2018-01-28T15:58:26Z* LcmTrn::LcmTrn() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2018-01-28T15:58:26Z* LcmTrn::init() - using configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2018-01-28T15:58:26Z* ahrs config: AHRS_M2, platform_orientation, platform_pitch_angle, platform_roll_angle 2018-01-28T15:58:26Z* dvl config: RDI_Pathfinder, Beam1Range, Beam2Range, Beam3Range, Beam4Range, BottomVelocityFlag 2018-01-28T15:58:26Z* nav config: DeadReckonUsingMultipleVelocitySources, latitude, longitude 2018-01-28T15:58:26Z* depth config: Depth_Keller, depth, sea_water_pressure 2018-01-28T15:58:26Z* trn config: TRN, trn_mle, trn_mmse, trn_var, trn_reinits, trn_filterstate 2018-01-28T15:58:26Z* LCM timeout=5.00 sec 2018-01-28T15:58:26Z* TRN settings: 2018-01-28T15:58:26Z* period=3.00 sec 2018-01-28T15:58:26Z* coherence=2.00 sec 2018-01-28T15:58:26Z* map = PortTiles cfg = mappingAUV_specs.cfg part= particles.cfg logdir= lrauv 2018-01-28T15:58:26Z* maptype = 2 filtertype = 3 weighting = 0 2018-01-28T15:58:26Z* lowgrade_filter = 1 allow reinit = 1 2018-01-28T15:58:26Z* LcmTrn::initTrn() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2018-01-28T15:58:26Z* LcmTrn::initTrn() - map: /home/tethysadmin/Downloads/trnmaps/PortTiles 2018-01-28T15:58:26Z* LcmTrn::initTrn() - cfg: /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2018-01-28T15:58:26Z* LcmTrn::initTrn() - part: /home/tethysadmin/Downloads/trncfgs/particles.cfg 2018-01-28T15:58:26Z* TerrainMapOctree::tileDataName = /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv 2018-01-28T15:58:26Z* TerrainMapOctree::numTiles_ = 9. 2018-01-28T15:58:26Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo 4061250.0 594250.0 . 2018-01-28T15:58:26Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile2.bo 4061250.0 594750.0 . 2018-01-28T15:58:26Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile3.bo 4061250.0 595250.0 . 2018-01-28T15:58:26Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile4.bo 4061750.0 594250.0 . 2018-01-28T15:58:26Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile5.bo 4061750.0 594750.0 . 2018-01-28T15:58:26Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile6.bo 4061750.0 595250.0 . 2018-01-28T15:58:26Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile7.bo 4062250.0 594250.0 . 2018-01-28T15:58:26Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile8.bo 4062250.0 594750.0 . 2018-01-28T15:58:26Z* TerrainMapOctree::read tile line: /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile9.bo 4062250.0 595250.0 . 2018-01-28T15:58:26Z* TerrainMapOctree::loaded 9 useable tiles from /home/tethysadmin/Downloads/trnmaps/PortTiles/tiles.csv. 2018-01-28T15:58:27Z* TerrainMapOctree::Octree tile load /home/tethysadmin/Downloads/trnmaps/PortTiles/PortugueseLedgeTile1.bo took 0.801729 seconds. 2018-01-28T15:58:27Z* TRN log directory is /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.26 2018-01-28T15:58:27Z* symlink /home/tethysadmin/Downloads/trnlogs/latestTRN to /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.26 OK 2018-01-28T15:58:27Z* parseSensorSpecs parsing sensor of type 1. 2018-01-28T15:58:27Z* Sensor 0 is of type 1. 2018-01-28T15:58:27Z* parseSensorSpecs parsing sensor of type 2. 2018-01-28T15:58:27Z* Sensor 1 is of type 2. 2018-01-28T15:58:27Z* parseSensorSpecs parsing sensor of type 5. 2018-01-28T15:58:27Z* Sensor 2 is of type 5. 2018-01-28T15:58:27Z- File created[/home/tethysadmin/Downloads/trnlogs/latestTRN/trn.log.0000] returned[0x55949ff550] 2018-01-28T15:58:27Z- TNavConfig::setParticlesFile: value is now particles.cfg 2018-01-28T15:58:27Z- TNavConfig::setMapFile: value is now /home/tethysadmin/Downloads/trnmaps/PortTiles 2018-01-28T15:58:27Z- TNavConfig::setVehicleSpecsFile: value is now /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2018-01-28T15:58:27Z- TNavConfig::setParticlesFile: value is now /home/tethysadmin/Downloads/trncfgs/particles.cfg 2018-01-28T15:58:27Z- TNavConfig::setLogDir: value is now /home/tethysadmin/Downloads/trnlogs/lrauv-TRN.26 2018-01-28T15:58:27Z- Loading vehicle config file... /home/tethysadmin/Downloads/trncfgs/mappingAUV_specs.cfg 2018-01-28T15:58:27Z- parseSensorSpecs parsing sensor of type 1. 2018-01-28T15:58:27Z- Sensor 0 is of type 1. 2018-01-28T15:58:27Z- parseSensorSpecs parsing sensor of type 2. 2018-01-28T15:58:27Z- Sensor 1 is of type 2. 2018-01-28T15:58:27Z- parseSensorSpecs parsing sensor of type 5. 2018-01-28T15:58:27Z- Sensor 2 is of type 5. 2018-01-28T15:58:27Z- Random noise maker initialized with 1517155107 2018-01-28T15:58:27Z- setDistribToSave(0) 2018-01-28T15:58:27Z- setDistribToSave set to 0 2018-01-28T15:58:27Z- Vehicle name: mappingAUV Number of sensors: 3 2018-01-28T15:58:27Z- Sensor #1: 2018-01-28T15:58:27Z- Sensor name: rdiDVL 2018-01-28T15:58:27Z- Sensor type: 1 2018-01-28T15:58:27Z- Number of beams per measurement: 4 2018-01-28T15:58:27Z- Sensor #1 to vehicle transformation information: 2018-01-28T15:58:27Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2018-01-28T15:58:27Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2018-01-28T15:58:27Z- 2018-01-28T15:58:27Z- Sensor #2: 2018-01-28T15:58:27Z- Sensor name: resonSeabat8101 2018-01-28T15:58:27Z- Sensor type: 2 2018-01-28T15:58:27Z- Number of beams per measurement: 11 2018-01-28T15:58:27Z- Sensor #2 to vehicle transformation information: 2018-01-28T15:58:27Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2018-01-28T15:58:27Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2018-01-28T15:58:27Z- 2018-01-28T15:58:27Z- Sensor #3: 2018-01-28T15:58:27Z- Sensor name: imagenexdeltat 2018-01-28T15:58:27Z- Sensor type: 5 2018-01-28T15:58:27Z- Number of beams per measurement: 120 2018-01-28T15:58:27Z- Sensor #3 to vehicle transformation information: 2018-01-28T15:58:27Z- Rotation angles (phi, theta, psi): (0.000000 ,0.000000, 0.000000) 2018-01-28T15:58:27Z- Translation vector [dx, dy, dz]: (0.000000 ,0.000000, 0.000000) 2018-01-28T15:58:27Z- 2018-01-28T15:58:27Z- TNavBF::nParticles: 10000 numFilters: 2 PMF Grid Resolution: 1.0 PMF Grid Size: 100 2018-01-28T15:58:27Z- TerrainNav::TNavFilter initialized with type 3 2018-01-28T15:58:27Z- TerrainNav::initVariables finished. 2018-01-28T15:58:27Z- TerrainNav::Constructor finished. 2018-01-28T15:58:27Z- TNavBF::setModifiedWeighting umw: 4 2018-01-28T15:58:27Z- TNavBF::Filter configuration: 0 Filter comparison: 0 Distance threshold 3.0 Weight ratio threshold 0.20 2018-01-28T15:58:27Z- TNavBF::numFilters: 1 2018-01-28T15:58:27Z- TerrainNav::modified weighting set to 0 2018-01-28T15:58:27Z- LcmTrn::initLcm() - configuration file /home/tethysadmin/Downloads/trncfgs/lcm-trn.cfg 2018-01-28T15:58:27Z- LcmTrn::run() 2018-01-28T15:58:27Z- AHRS_M2 msg: 1607495402.64 epoch sec; seqNo:51 2018-01-28T15:58:27Z- AHRS_M2 msg: 4.66 phi; -0.27 theta; -0.28 psi 2018-01-28T15:58:27Z- waiting for 3.00, time is 0.00 2018-01-28T15:58:27Z- sync is 1607495402.64, coherence is 2.00 2018-01-28T15:58:27Z- handleDepth()-Depth_Keller msg: 0.41 epoch sec; seqNo:1607495402663; depth 0.00 2018-01-28T15:58:27Z- waiting for 3.00, time is 0.00 2018-01-28T15:58:27Z- sync is 1607495402.64, coherence is 2.00 2018-01-28T15:58:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495402.72 epoch sec; seqNo:58; 4061674.99 north; 594728.54 east 2018-01-28T15:58:27Z- waiting for 3.00, time is 0.00 2018-01-28T15:58:27Z- sync is 1607495402.72, coherence is 2.00 2018-01-28T15:58:27Z- AHRS_M2 msg: 1607495403.02 epoch sec; seqNo:52 2018-01-28T15:58:27Z- AHRS_M2 msg: 4.66 phi; -0.30 theta; -0.27 psi 2018-01-28T15:58:27Z- waiting for 3.00, time is 0.00 2018-01-28T15:58:27Z- sync is 1607495403.02, coherence is 2.00 2018-01-28T15:58:27Z- handleDepth()-Depth_Keller msg: 0.46 epoch sec; seqNo:1607495403030; depth 0.00 2018-01-28T15:58:27Z- waiting for 3.00, time is 0.00 2018-01-28T15:58:27Z- sync is 1607495403.02, coherence is 2.00 2018-01-28T15:58:28Z- handleDvl() - RDI_Pathfinder msg: 1607495403.05 epoch sec; seqNo:32 2018-01-28T15:58:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.77 , 115.24 , 82.83 , 107.14 2018-01-28T15:58:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.13 , 0.10 , -0.03 2018-01-28T15:58:28Z- waiting for 1607495406.05, time is 1607495403.05 2018-01-28T15:58:28Z- sync is 0.03, coherence is 2.00 2018-01-28T15:58:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495403.09 epoch sec; seqNo:59; 4061674.99 north; 594728.54 east 2018-01-28T15:58:28Z- waiting for 1607495406.05, time is 1607495403.05 2018-01-28T15:58:28Z- sync is 0.04, coherence is 2.00 2018-01-28T15:58:28Z- AHRS_M2 msg: 1607495403.42 epoch sec; seqNo:53 2018-01-28T15:58:28Z- AHRS_M2 msg: 4.67 phi; -0.32 theta; -0.26 psi 2018-01-28T15:58:28Z- waiting for 1607495406.05, time is 1607495403.05 2018-01-28T15:58:28Z- sync is 0.38, coherence is 2.00 2018-01-28T15:58:28Z- handleDepth()-Depth_Keller msg: 0.51 epoch sec; seqNo:1607495403446; depth 0.00 2018-01-28T15:58:28Z- waiting for 1607495406.05, time is 1607495403.05 2018-01-28T15:58:28Z- sync is 0.38, coherence is 2.00 2018-01-28T15:58:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495403.47 epoch sec; seqNo:60; 4061674.99 north; 594728.54 east 2018-01-28T15:58:28Z- waiting for 1607495406.05, time is 1607495403.05 2018-01-28T15:58:28Z- sync is 0.42, coherence is 2.00 2018-01-28T15:58:28Z- AHRS_M2 msg: 1607495403.82 epoch sec; seqNo:54 2018-01-28T15:58:28Z- AHRS_M2 msg: 4.67 phi; -0.35 theta; -0.26 psi 2018-01-28T15:58:28Z- waiting for 1607495406.05, time is 1607495403.05 2018-01-28T15:58:28Z- sync is 0.78, coherence is 2.00 2018-01-28T15:58:28Z- handleDepth()-Depth_Keller msg: 0.55 epoch sec; seqNo:1607495403834; depth 0.00 2018-01-28T15:58:28Z- waiting for 1607495406.05, time is 1607495403.05 2018-01-28T15:58:28Z- sync is 0.78, coherence is 2.00 2018-01-28T15:58:28Z- handleDvl() - RDI_Pathfinder msg: 1607495403.86 epoch sec; seqNo:33 2018-01-28T15:58:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.18 , 113.62 , 82.56 , 113.62 2018-01-28T15:58:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.01 , 0.01 , 0.03 2018-01-28T15:58:28Z- waiting for 1607495406.05, time is 1607495403.86 2018-01-28T15:58:28Z- sync is 0.04, coherence is 2.00 2018-01-28T15:58:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495403.88 epoch sec; seqNo:61; 4061674.99 north; 594728.54 east 2018-01-28T15:58:28Z- waiting for 1607495406.05, time is 1607495403.86 2018-01-28T15:58:28Z- sync is 0.02, coherence is 2.00 2018-01-28T15:58:29Z- AHRS_M2 msg: 1607495404.23 epoch sec; seqNo:55 2018-01-28T15:58:29Z- AHRS_M2 msg: 4.67 phi; -0.35 theta; -0.25 psi 2018-01-28T15:58:29Z- waiting for 1607495406.05, time is 1607495403.86 2018-01-28T15:58:29Z- sync is 0.37, coherence is 2.00 2018-01-28T15:58:29Z- handleDepth()-Depth_Keller msg: 0.59 epoch sec; seqNo:1607495404234; depth 0.00 2018-01-28T15:58:29Z- waiting for 1607495406.05, time is 1607495403.86 2018-01-28T15:58:29Z- sync is 0.37, coherence is 2.00 2018-01-28T15:58:29Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2018-01-28T15:58:29Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2018-01-28T15:58:29Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2018-01-28T15:58:29Z- handleDVL() - Beam1Range item not found in dvl msg 2018-01-28T15:58:29Z- handleDVL() - Beam2Range item not found in dvl msg 2018-01-28T15:58:29Z- handleDVL() - Beam3Range item not found in dvl msg 2018-01-28T15:58:29Z- handleDVL() - Beam4Range item not found in dvl msg 2018-01-28T15:58:29Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2018-01-28T15:58:29Z- handleDvl() - RDI_Pathfinder msg: 1607495404.24 epoch sec; seqNo:34 2018-01-28T15:58:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2018-01-28T15:58:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.01 , 0.01 , 0.03 2018-01-28T15:58:29Z- waiting for 1607495406.05, time is 1607495404.24 2018-01-28T15:58:29Z- sync is 0.01, coherence is 2.00 2018-01-28T15:58:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495404.28 epoch sec; seqNo:62; 4061674.99 north; 594728.54 east 2018-01-28T15:58:29Z- waiting for 1607495406.05, time is 1607495404.24 2018-01-28T15:58:29Z- sync is 0.04, coherence is 2.00 2018-01-28T15:58:29Z- AHRS_M2 msg: 1607495404.64 epoch sec; seqNo:56 2018-01-28T15:58:29Z- AHRS_M2 msg: 4.68 phi; -0.35 theta; -0.25 psi 2018-01-28T15:58:29Z- waiting for 1607495406.05, time is 1607495404.24 2018-01-28T15:58:29Z- sync is 0.40, coherence is 2.00 2018-01-28T15:58:29Z- handleDepth()-Depth_Keller msg: 0.67 epoch sec; seqNo:1607495404649; depth 0.00 2018-01-28T15:58:29Z- waiting for 1607495406.05, time is 1607495404.24 2018-01-28T15:58:29Z- sync is 0.40, coherence is 2.00 2018-01-28T15:58:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495404.71 epoch sec; seqNo:63; 4061674.99 north; 594728.54 east 2018-01-28T15:58:29Z- waiting for 1607495406.05, time is 1607495404.24 2018-01-28T15:58:29Z- sync is 0.48, coherence is 2.00 2018-01-28T15:58:29Z- AHRS_M2 msg: 1607495405.04 epoch sec; seqNo:57 2018-01-28T15:58:29Z- AHRS_M2 msg: 4.69 phi; -0.34 theta; -0.25 psi 2018-01-28T15:58:29Z- waiting for 1607495406.05, time is 1607495404.24 2018-01-28T15:58:29Z- sync is 0.80, coherence is 2.00 2018-01-28T15:58:29Z- handleDepth()-Depth_Keller msg: 0.71 epoch sec; seqNo:1607495405046; depth 0.00 2018-01-28T15:58:29Z- waiting for 1607495406.05, time is 1607495404.24 2018-01-28T15:58:29Z- sync is 0.80, coherence is 2.00 2018-01-28T15:58:30Z- handleDvl() - RDI_Pathfinder msg: 1607495405.07 epoch sec; seqNo:35 2018-01-28T15:58:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 78.81 , 113.49 , 77.58 , 118.89 2018-01-28T15:58:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.33 , 0.04 , -0.30 2018-01-28T15:58:30Z- waiting for 1607495406.05, time is 1607495405.07 2018-01-28T15:58:30Z- sync is 0.03, coherence is 2.00 2018-01-28T15:58:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495405.09 epoch sec; seqNo:64; 4061674.99 north; 594728.54 east 2018-01-28T15:58:30Z- waiting for 1607495406.05, time is 1607495405.07 2018-01-28T15:58:30Z- sync is 0.02, coherence is 2.00 2018-01-28T15:58:30Z- AHRS_M2 msg: 1607495405.44 epoch sec; seqNo:58 2018-01-28T15:58:30Z- AHRS_M2 msg: 4.70 phi; -0.34 theta; -0.23 psi 2018-01-28T15:58:30Z- waiting for 1607495406.05, time is 1607495405.07 2018-01-28T15:58:30Z- sync is 0.37, coherence is 2.00 2018-01-28T15:58:30Z- handleDepth()-Depth_Keller msg: 0.77 epoch sec; seqNo:1607495405450; depth 0.00 2018-01-28T15:58:30Z- waiting for 1607495406.05, time is 1607495405.07 2018-01-28T15:58:30Z- sync is 0.37, coherence is 2.00 2018-01-28T15:58:30Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2018-01-28T15:58:30Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2018-01-28T15:58:30Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2018-01-28T15:58:30Z- handleDVL() - Beam1Range item not found in dvl msg 2018-01-28T15:58:30Z- handleDVL() - Beam2Range item not found in dvl msg 2018-01-28T15:58:30Z- handleDVL() - Beam3Range item not found in dvl msg 2018-01-28T15:58:30Z- handleDVL() - Beam4Range item not found in dvl msg 2018-01-28T15:58:30Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2018-01-28T15:58:30Z- handleDvl() - RDI_Pathfinder msg: 1607495405.45 epoch sec; seqNo:36 2018-01-28T15:58:30Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2018-01-28T15:58:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.33 , 0.04 , -0.30 2018-01-28T15:58:30Z- waiting for 1607495406.05, time is 1607495405.45 2018-01-28T15:58:30Z- sync is 0.01, coherence is 2.00 2018-01-28T15:58:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495405.47 epoch sec; seqNo:65; 4061674.99 north; 594728.54 east 2018-01-28T15:58:30Z- waiting for 1607495406.05, time is 1607495405.45 2018-01-28T15:58:30Z- sync is 0.02, coherence is 2.00 2018-01-28T15:58:30Z- AHRS_M2 msg: 1607495405.85 epoch sec; seqNo:59 2018-01-28T15:58:30Z- AHRS_M2 msg: 4.70 phi; -0.33 theta; -0.19 psi 2018-01-28T15:58:30Z- waiting for 1607495406.05, time is 1607495405.45 2018-01-28T15:58:30Z- sync is 0.39, coherence is 2.00 2018-01-28T15:58:30Z- handleDepth()-Depth_Keller msg: 0.85 epoch sec; seqNo:1607495405855; depth 0.00 2018-01-28T15:58:30Z- waiting for 1607495406.05, time is 1607495405.45 2018-01-28T15:58:30Z- sync is 0.39, coherence is 2.00 2018-01-28T15:58:30Z- handleDvl() - RDI_Pathfinder msg: 1607495405.87 epoch sec; seqNo:37 2018-01-28T15:58:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.22 , 110.72 , 77.58 , 116.12 2018-01-28T15:58:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.70 , 0.12 , -0.45 2018-01-28T15:58:30Z- waiting for 1607495406.05, time is 1607495405.87 2018-01-28T15:58:30Z- sync is 0.02, coherence is 2.00 2018-01-28T15:58:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495405.88 epoch sec; seqNo:66; 4061674.98 north; 594727.31 east 2018-01-28T15:58:30Z- waiting for 1607495406.05, time is 1607495405.87 2018-01-28T15:58:30Z- sync is 0.01, coherence is 2.00 2018-01-28T15:58:31Z- AHRS_M2 msg: 1607495406.25 epoch sec; seqNo:60 2018-01-28T15:58:31Z- AHRS_M2 msg: 4.69 phi; -0.32 theta; -0.17 psi 2018-01-28T15:58:31Z- waiting for 1607495406.05, time is 1607495405.87 2018-01-28T15:58:31Z- sync is 0.38, coherence is 2.00 2018-01-28T15:58:31Z- handleDepth()-Depth_Keller msg: 0.92 epoch sec; seqNo:1607495406256; depth 0.00 2018-01-28T15:58:31Z- waiting for 1607495406.05, time is 1607495405.87 2018-01-28T15:58:31Z- sync is 0.38, coherence is 2.00 2018-01-28T15:58:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495406.28 epoch sec; seqNo:67; 4061674.98 north; 594727.31 east 2018-01-28T15:58:31Z- waiting for 1607495406.05, time is 1607495405.87 2018-01-28T15:58:31Z- sync is 0.41, coherence is 2.00 2018-01-28T15:58:31Z- AHRS_M2 msg: 1607495406.65 epoch sec; seqNo:61 2018-01-28T15:58:31Z- AHRS_M2 msg: 4.70 phi; -0.31 theta; -0.18 psi 2018-01-28T15:58:31Z- waiting for 1607495406.05, time is 1607495405.87 2018-01-28T15:58:31Z- sync is 0.79, coherence is 2.00 2018-01-28T15:58:31Z- handleDepth()-Depth_Keller msg: 1.01 epoch sec; seqNo:1607495406663; depth 0.00 2018-01-28T15:58:31Z- waiting for 1607495406.05, time is 1607495405.87 2018-01-28T15:58:31Z- sync is 0.79, coherence is 2.00 2018-01-28T15:58:31Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2018-01-28T15:58:31Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2018-01-28T15:58:31Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2018-01-28T15:58:31Z- handleDVL() - Beam1Range item not found in dvl msg 2018-01-28T15:58:31Z- handleDVL() - Beam2Range item not found in dvl msg 2018-01-28T15:58:31Z- handleDVL() - Beam3Range item not found in dvl msg 2018-01-28T15:58:31Z- handleDVL() - Beam4Range item not found in dvl msg 2018-01-28T15:58:31Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2018-01-28T15:58:31Z- handleDvl() - RDI_Pathfinder msg: 1607495406.67 epoch sec; seqNo:38 2018-01-28T15:58:31Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2018-01-28T15:58:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.70 , 0.12 , -0.45 2018-01-28T15:58:31Z- waiting for 1607495406.05, time is 1607495406.67 2018-01-28T15:58:31Z- sync is 0.01, coherence is 2.00 2018-01-28T15:58:31Z- LcmTrn::updateTrn() >>>> pose time 1607495406.65, meas time 1607495406.67 <<<< 2018-01-28T15:58:31Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495406.67, ping # 0. 2018-01-28T15:58:31Z- TerrainNav::Measurement type 1 from time = 1607495406.67 sec. not included; vehicle motion has not been initialized. lastMeasValid = 0, beams = 4, ping # 0 2018-01-28T15:58:31Z- TerrainNav::motionUpdate() - currEstimate = (4061675, 594727.31, 1.01) 2018-01-28T15:58:31Z- TerrainNav::Filter not initialized - vehicle currently does not have good range measurements 2018-01-28T15:58:31Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2018-01-28T15:58:31Z- TerrainNav::Cannot compute pose estimate; motion has not been initialized. 2018-01-28T15:58:31Z- LcmTrn::cycle() - reinits:0 filterstate:0 2018-01-28T15:58:31Z- LcmTrn::cycle() - MLE : 0.00 0.00 0.00 2018-01-28T15:58:31Z- LcmTrn::cycle() - MMSE : 0.00 0.00 0.00 2018-01-28T15:58:31Z- LcmTrn::cycle() - COVAR: 0.00 0.00 0.00 0.00 2018-01-28T15:58:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495406.68 epoch sec; seqNo:68; 4061674.98 north; 594727.31 east 2018-01-28T15:58:31Z- waiting for 1607495409.67, time is 1607495406.67 2018-01-28T15:58:31Z- sync is 0.01, coherence is 2.00 2018-01-28T15:58:32Z- handleDepth()-Depth_Keller msg: 1.08 epoch sec; seqNo:1607495407074; depth 0.00 2018-01-28T15:58:32Z- waiting for 1607495409.67, time is 1607495406.67 2018-01-28T15:58:32Z- sync is 0.01, coherence is 2.00 2018-01-28T15:58:32Z- handleDvl() - RDI_Pathfinder msg: 1607495407.09 epoch sec; seqNo:39 2018-01-28T15:58:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.62 , 104.10 , 78.44 , 110.85 2018-01-28T15:58:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , 0.00 , -0.28 2018-01-28T15:58:32Z- waiting for 1607495409.67, time is 1607495407.09 2018-01-28T15:58:32Z- sync is 0.41, coherence is 2.00 2018-01-28T15:58:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495407.11 epoch sec; seqNo:69; 4061674.97 north; 594726.09 east 2018-01-28T15:58:32Z- waiting for 1607495409.67, time is 1607495407.09 2018-01-28T15:58:32Z- sync is 0.03, coherence is 2.00 2018-01-28T15:58:32Z- AHRS_M2 msg: 1607495407.46 epoch sec; seqNo:62 2018-01-28T15:58:32Z- AHRS_M2 msg: 4.69 phi; -0.32 theta; -0.20 psi 2018-01-28T15:58:32Z- waiting for 1607495409.67, time is 1607495407.09 2018-01-28T15:58:32Z- sync is 0.38, coherence is 2.00 2018-01-28T15:58:32Z- handleDepth()-Depth_Keller msg: 1.17 epoch sec; seqNo:1607495407474; depth 0.00 2018-01-28T15:58:32Z- waiting for 1607495409.67, time is 1607495407.09 2018-01-28T15:58:32Z- sync is 0.38, coherence is 2.00 2018-01-28T15:58:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495407.49 epoch sec; seqNo:70; 4061674.97 north; 594726.09 east 2018-01-28T15:58:32Z- waiting for 1607495409.67, time is 1607495407.09 2018-01-28T15:58:32Z- sync is 0.41, coherence is 2.00 2018-01-28T15:58:32Z- AHRS_M2 msg: 1607495407.87 epoch sec; seqNo:63 2018-01-28T15:58:32Z- AHRS_M2 msg: 4.67 phi; -0.33 theta; -0.20 psi 2018-01-28T15:58:32Z- waiting for 1607495409.67, time is 1607495407.09 2018-01-28T15:58:32Z- sync is 0.78, coherence is 2.00 2018-01-28T15:58:32Z- handleDepth()-Depth_Keller msg: 1.26 epoch sec; seqNo:1607495407871; depth 0.00 2018-01-28T15:58:32Z- waiting for 1607495409.67, time is 1607495407.09 2018-01-28T15:58:32Z- sync is 0.78, coherence is 2.00 2018-01-28T15:58:32Z- handleDvl() - RDI_Pathfinder msg: 1607495407.89 epoch sec; seqNo:40 2018-01-28T15:58:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.99 , 104.31 , 75.95 , 111.06 2018-01-28T15:58:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , -0.21 , 0.02 2018-01-28T15:58:32Z- waiting for 1607495409.67, time is 1607495407.89 2018-01-28T15:58:32Z- sync is 0.02, coherence is 2.00 2018-01-28T15:58:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495407.91 epoch sec; seqNo:71; 4061674.97 north; 594726.09 east 2018-01-28T15:58:32Z- waiting for 1607495409.67, time is 1607495407.89 2018-01-28T15:58:32Z- sync is 0.03, coherence is 2.00 2018-01-28T15:58:33Z- AHRS_M2 msg: 1607495408.27 epoch sec; seqNo:64 2018-01-28T15:58:33Z- AHRS_M2 msg: 4.66 phi; -0.32 theta; -0.20 psi 2018-01-28T15:58:33Z- waiting for 1607495409.67, time is 1607495407.89 2018-01-28T15:58:33Z- sync is 0.38, coherence is 2.00 2018-01-28T15:58:33Z- handleDepth()-Depth_Keller msg: 1.35 epoch sec; seqNo:1607495408274; depth 0.00 2018-01-28T15:58:33Z- waiting for 1607495409.67, time is 1607495407.89 2018-01-28T15:58:33Z- sync is 0.38, coherence is 2.00 2018-01-28T15:58:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495408.29 epoch sec; seqNo:72; 4061674.97 north; 594726.09 east 2018-01-28T15:58:33Z- waiting for 1607495409.67, time is 1607495407.89 2018-01-28T15:58:33Z- sync is 0.40, coherence is 2.00 2018-01-28T15:58:33Z- AHRS_M2 msg: 1607495408.71 epoch sec; seqNo:65 2018-01-28T15:58:33Z- AHRS_M2 msg: 4.66 phi; -0.32 theta; -0.21 psi 2018-01-28T15:58:33Z- waiting for 1607495409.67, time is 1607495407.89 2018-01-28T15:58:33Z- sync is 0.83, coherence is 2.00 2018-01-28T15:58:33Z- handleDepth()-Depth_Keller msg: 1.44 epoch sec; seqNo:1607495408719; depth 0.00 2018-01-28T15:58:33Z- waiting for 1607495409.67, time is 1607495407.89 2018-01-28T15:58:33Z- sync is 0.83, coherence is 2.00 2018-01-28T15:58:33Z- handleDvl() - RDI_Pathfinder msg: 1607495408.73 epoch sec; seqNo:41 2018-01-28T15:58:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.99 , 105.79 , 80.13 , 111.19 2018-01-28T15:58:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.62 , -0.28 , 0.00 2018-01-28T15:58:33Z- waiting for 1607495409.67, time is 1607495408.73 2018-01-28T15:58:33Z- sync is 0.02, coherence is 2.00 2018-01-28T15:58:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495408.79 epoch sec; seqNo:73; 4061674.59 north; 594726.10 east 2018-01-28T15:58:33Z- waiting for 1607495409.67, time is 1607495408.73 2018-01-28T15:58:33Z- sync is 0.05, coherence is 2.00 2020-12-09T06:30:09Z- AHRS_M2 msg: 1607495409.08 epoch sec; seqNo:66 2020-12-09T06:30:09Z- AHRS_M2 msg: 4.67 phi; -0.33 theta; -0.23 psi 2020-12-09T06:30:09Z- waiting for 1607495409.67, time is 1607495408.73 2020-12-09T06:30:09Z- sync is 0.34, coherence is 2.00 2020-12-09T06:30:09Z- handleDepth()-Depth_Keller msg: 1.55 epoch sec; seqNo:1607495409085; depth 0.00 2020-12-09T06:30:09Z- waiting for 1607495409.67, time is 1607495408.73 2020-12-09T06:30:09Z- sync is 0.34, coherence is 2.00 2020-12-09T06:30:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495409.10 epoch sec; seqNo:74; 4061674.57 north; 594724.88 east 2020-12-09T06:30:09Z- waiting for 1607495409.67, time is 1607495408.73 2020-12-09T06:30:09Z- sync is 0.37, coherence is 2.00 2020-12-09T06:30:09Z- handleDepth()-Depth_Keller msg: 1.61 epoch sec; seqNo:1607495409506; depth 0.00 2020-12-09T06:30:09Z- waiting for 1607495409.67, time is 1607495408.73 2020-12-09T06:30:09Z- sync is 0.37, coherence is 2.00 2020-12-09T06:30:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495409.52 epoch sec; seqNo:75; 4061674.57 north; 594724.88 east 2020-12-09T06:30:09Z- waiting for 1607495409.67, time is 1607495408.73 2020-12-09T06:30:09Z- sync is 0.78, coherence is 2.00 2020-12-09T06:30:09Z- AHRS_M2 msg: 1607495409.89 epoch sec; seqNo:67 2020-12-09T06:30:09Z- AHRS_M2 msg: 4.70 phi; -0.34 theta; -0.20 psi 2020-12-09T06:30:09Z- waiting for 1607495409.67, time is 1607495408.73 2020-12-09T06:30:09Z- sync is 1.15, coherence is 2.00 2020-12-09T06:30:09Z- handleDepth()-Depth_Keller msg: 1.72 epoch sec; seqNo:1607495409891; depth 0.00 2020-12-09T06:30:09Z- waiting for 1607495409.67, time is 1607495408.73 2020-12-09T06:30:09Z- sync is 1.15, coherence is 2.00 2020-12-09T06:30:09Z- handleDvl() - RDI_Pathfinder msg: 1607495409.91 epoch sec; seqNo:42 2020-12-09T06:30:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.18 , 108.36 , 78.65 , 112.41 2020-12-09T06:30:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.52 , -0.17 , -0.10 2020-12-09T06:30:09Z- waiting for 1607495409.67, time is 1607495409.91 2020-12-09T06:30:09Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:09Z- LcmTrn::updateTrn() >>>> pose time 1607495409.89, meas time 1607495409.91 <<<< 2020-12-09T06:30:09Z- TerrainNav::Measurement type 1 from time = 1607495409.91 sec. not included; vehicle motion has not been initialized. lastMeasValid = 1, beams = 4, ping # 0 2020-12-09T06:30:09Z- TerrainNav::motionUpdate() - currEstimate = (4061675, 594724.88, 1.72) 2020-12-09T06:30:09Z- TerrainNav::attemptInitFilter is increasing Init Search Window by 0.000000 m 2020-12-09T06:30:09Z- TNavBF: Successfully initialized particles 2020-12-09T06:30:09Z- TerrainNav:: vehicle motion has been initialized 2020-12-09T06:30:09Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:30:09Z- TNavBF::mmse selected from filter -1 2020-12-09T06:30:09Z- variances([0], [2], and psi_berg) = 833.250000 833.250000 0.000000 2020-12-09T06:30:09Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:30:09Z- LcmTrn::cycle() - MLE : 4061625.07 594675.38 1.72 2020-12-09T06:30:09Z- LcmTrn::cycle() - MMSE : 4061674.57 594724.88 1.72 2020-12-09T06:30:09Z- LcmTrn::cycle() - COVAR: 833.25 833.25 25.00 0.00 2020-12-09T06:30:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495409.92 epoch sec; seqNo:76; 4061674.19 north; 594724.88 east 2020-12-09T06:30:09Z- waiting for 1607495412.91, time is 1607495409.91 2020-12-09T06:30:09Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:10Z- AHRS_M2 msg: 1607495410.29 epoch sec; seqNo:68 2020-12-09T06:30:10Z- AHRS_M2 msg: 4.71 phi; -0.34 theta; -0.16 psi 2020-12-09T06:30:10Z- waiting for 1607495412.91, time is 1607495409.91 2020-12-09T06:30:10Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:10Z- handleDepth()-Depth_Keller msg: 1.80 epoch sec; seqNo:1607495410296; depth 0.00 2020-12-09T06:30:10Z- waiting for 1607495412.91, time is 1607495409.91 2020-12-09T06:30:10Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495410.35 epoch sec; seqNo:77; 4061674.19 north; 594724.88 east 2020-12-09T06:30:10Z- waiting for 1607495412.91, time is 1607495409.91 2020-12-09T06:30:10Z- sync is 0.44, coherence is 2.00 2020-12-09T06:30:10Z- AHRS_M2 msg: 1607495410.73 epoch sec; seqNo:69 2020-12-09T06:30:10Z- AHRS_M2 msg: 4.72 phi; -0.33 theta; -0.14 psi 2020-12-09T06:30:10Z- waiting for 1607495412.91, time is 1607495409.91 2020-12-09T06:30:10Z- sync is 0.82, coherence is 2.00 2020-12-09T06:30:10Z- handleDepth()-Depth_Keller msg: 1.87 epoch sec; seqNo:1607495410736; depth 0.00 2020-12-09T06:30:10Z- waiting for 1607495412.91, time is 1607495409.91 2020-12-09T06:30:10Z- sync is 0.82, coherence is 2.00 2020-12-09T06:30:10Z- handleDvl() - RDI_Pathfinder msg: 1607495410.76 epoch sec; seqNo:43 2020-12-09T06:30:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 79.22 , 96.14 , 78.58 , 109.64 2020-12-09T06:30:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.69 , 0.03 , -0.24 2020-12-09T06:30:10Z- waiting for 1607495412.91, time is 1607495410.76 2020-12-09T06:30:10Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495410.77 epoch sec; seqNo:78; 4061674.19 north; 594724.88 east 2020-12-09T06:30:10Z- waiting for 1607495412.91, time is 1607495410.76 2020-12-09T06:30:10Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:11Z- AHRS_M2 msg: 1607495411.12 epoch sec; seqNo:70 2020-12-09T06:30:11Z- AHRS_M2 msg: 4.74 phi; -0.32 theta; -0.16 psi 2020-12-09T06:30:11Z- waiting for 1607495412.91, time is 1607495410.76 2020-12-09T06:30:11Z- sync is 0.37, coherence is 2.00 2020-12-09T06:30:11Z- handleDepth()-Depth_Keller msg: 1.96 epoch sec; seqNo:1607495411129; depth 0.00 2020-12-09T06:30:11Z- waiting for 1607495412.91, time is 1607495410.76 2020-12-09T06:30:11Z- sync is 0.37, coherence is 2.00 2020-12-09T06:30:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495411.14 epoch sec; seqNo:79; 4061674.18 north; 594723.66 east 2020-12-09T06:30:11Z- waiting for 1607495412.91, time is 1607495410.76 2020-12-09T06:30:11Z- sync is 0.39, coherence is 2.00 2020-12-09T06:30:11Z- AHRS_M2 msg: 1607495411.52 epoch sec; seqNo:71 2020-12-09T06:30:11Z- AHRS_M2 msg: 4.76 phi; -0.31 theta; -0.17 psi 2020-12-09T06:30:11Z- waiting for 1607495412.91, time is 1607495410.76 2020-12-09T06:30:11Z- sync is 0.77, coherence is 2.00 2020-12-09T06:30:11Z- handleDepth()-Depth_Keller msg: 2.03 epoch sec; seqNo:1607495411532; depth 0.00 2020-12-09T06:30:11Z- waiting for 1607495412.91, time is 1607495410.76 2020-12-09T06:30:11Z- sync is 0.77, coherence is 2.00 2020-12-09T06:30:11Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:30:11Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:30:11Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:30:11Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:30:11Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:30:11Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:30:11Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:30:11Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:30:11Z- handleDvl() - RDI_Pathfinder msg: 1607495411.54 epoch sec; seqNo:44 2020-12-09T06:30:11Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:30:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.69 , 0.03 , -0.24 2020-12-09T06:30:11Z- waiting for 1607495412.91, time is 1607495411.54 2020-12-09T06:30:11Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495411.54 epoch sec; seqNo:80; 4061674.18 north; 594723.66 east 2020-12-09T06:30:11Z- waiting for 1607495412.91, time is 1607495411.54 2020-12-09T06:30:11Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:11Z- AHRS_M2 msg: 1607495411.92 epoch sec; seqNo:72 2020-12-09T06:30:11Z- AHRS_M2 msg: 4.77 phi; -0.30 theta; -0.18 psi 2020-12-09T06:30:11Z- waiting for 1607495412.91, time is 1607495411.54 2020-12-09T06:30:11Z- sync is 0.39, coherence is 2.00 2020-12-09T06:30:11Z- handleDepth()-Depth_Keller msg: 2.13 epoch sec; seqNo:1607495411927; depth 0.00 2020-12-09T06:30:11Z- waiting for 1607495412.91, time is 1607495411.54 2020-12-09T06:30:11Z- sync is 0.39, coherence is 2.00 2020-12-09T06:30:11Z- handleDvl() - RDI_Pathfinder msg: 1607495411.94 epoch sec; seqNo:45 2020-12-09T06:30:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 83.04 , 96.40 , 75.13 , 108.56 2020-12-09T06:30:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.00 , -0.33 2020-12-09T06:30:11Z- waiting for 1607495412.91, time is 1607495411.94 2020-12-09T06:30:11Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495411.97 epoch sec; seqNo:81; 4061674.18 north; 594723.66 east 2020-12-09T06:30:11Z- waiting for 1607495412.91, time is 1607495411.94 2020-12-09T06:30:11Z- sync is 0.03, coherence is 2.00 2020-12-09T06:30:12Z- AHRS_M2 msg: 1607495412.33 epoch sec; seqNo:73 2020-12-09T06:30:12Z- AHRS_M2 msg: 4.77 phi; -0.30 theta; -0.17 psi 2020-12-09T06:30:12Z- waiting for 1607495412.91, time is 1607495411.94 2020-12-09T06:30:12Z- sync is 0.39, coherence is 2.00 2020-12-09T06:30:12Z- handleDepth()-Depth_Keller msg: 2.20 epoch sec; seqNo:1607495412332; depth 0.00 2020-12-09T06:30:12Z- waiting for 1607495412.91, time is 1607495411.94 2020-12-09T06:30:12Z- sync is 0.39, coherence is 2.00 2020-12-09T06:30:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495412.34 epoch sec; seqNo:82; 4061674.17 north; 594722.44 east 2020-12-09T06:30:12Z- waiting for 1607495412.91, time is 1607495411.94 2020-12-09T06:30:12Z- sync is 0.40, coherence is 2.00 2020-12-09T06:30:12Z- AHRS_M2 msg: 1607495412.75 epoch sec; seqNo:74 2020-12-09T06:30:12Z- AHRS_M2 msg: 4.77 phi; -0.28 theta; -0.16 psi 2020-12-09T06:30:12Z- waiting for 1607495412.91, time is 1607495411.94 2020-12-09T06:30:12Z- sync is 0.81, coherence is 2.00 2020-12-09T06:30:12Z- handleDepth()-Depth_Keller msg: 2.28 epoch sec; seqNo:1607495412755; depth 0.00 2020-12-09T06:30:12Z- waiting for 1607495412.91, time is 1607495411.94 2020-12-09T06:30:12Z- sync is 0.81, coherence is 2.00 2020-12-09T06:30:12Z- handleDvl() - RDI_Pathfinder msg: 1607495412.77 epoch sec; seqNo:46 2020-12-09T06:30:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 80.67 , 100.12 , 73.91 , 104.98 2020-12-09T06:30:12Z- handleDvl() - RDI_Pathfinder msg: velocities 1.20 , 0.06 , -0.34 2020-12-09T06:30:12Z- waiting for 1607495412.91, time is 1607495412.77 2020-12-09T06:30:12Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495412.78 epoch sec; seqNo:83; 4061674.17 north; 594722.44 east 2020-12-09T06:30:12Z- waiting for 1607495412.91, time is 1607495412.77 2020-12-09T06:30:12Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:13Z- AHRS_M2 msg: 1607495413.14 epoch sec; seqNo:75 2020-12-09T06:30:13Z- AHRS_M2 msg: 4.77 phi; -0.27 theta; -0.16 psi 2020-12-09T06:30:13Z- waiting for 1607495412.91, time is 1607495412.77 2020-12-09T06:30:13Z- sync is 0.37, coherence is 2.00 2020-12-09T06:30:13Z- handleDepth()-Depth_Keller msg: 2.38 epoch sec; seqNo:1607495413145; depth 0.00 2020-12-09T06:30:13Z- waiting for 1607495412.91, time is 1607495412.77 2020-12-09T06:30:13Z- sync is 0.37, coherence is 2.00 2020-12-09T06:30:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495413.17 epoch sec; seqNo:84; 4061674.17 north; 594722.44 east 2020-12-09T06:30:13Z- waiting for 1607495412.91, time is 1607495412.77 2020-12-09T06:30:13Z- sync is 0.40, coherence is 2.00 2020-12-09T06:30:13Z- AHRS_M2 msg: 1607495413.54 epoch sec; seqNo:76 2020-12-09T06:30:13Z- AHRS_M2 msg: 4.78 phi; -0.25 theta; -0.17 psi 2020-12-09T06:30:13Z- waiting for 1607495412.91, time is 1607495412.77 2020-12-09T06:30:13Z- sync is 0.77, coherence is 2.00 2020-12-09T06:30:13Z- handleDepth()-Depth_Keller msg: 2.47 epoch sec; seqNo:1607495413542; depth 0.00 2020-12-09T06:30:13Z- waiting for 1607495412.91, time is 1607495412.77 2020-12-09T06:30:13Z- sync is 0.77, coherence is 2.00 2020-12-09T06:30:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495413.55 epoch sec; seqNo:85; 4061674.53 north; 594721.22 east 2020-12-09T06:30:13Z- waiting for 1607495412.91, time is 1607495412.77 2020-12-09T06:30:13Z- sync is 0.79, coherence is 2.00 2020-12-09T06:30:13Z- AHRS_M2 msg: 1607495413.94 epoch sec; seqNo:77 2020-12-09T06:30:13Z- AHRS_M2 msg: 4.78 phi; -0.24 theta; -0.18 psi 2020-12-09T06:30:13Z- waiting for 1607495412.91, time is 1607495412.77 2020-12-09T06:30:13Z- sync is 1.17, coherence is 2.00 2020-12-09T06:30:13Z- handleDepth()-Depth_Keller msg: 2.54 epoch sec; seqNo:1607495413950; depth 0.00 2020-12-09T06:30:13Z- waiting for 1607495412.91, time is 1607495412.77 2020-12-09T06:30:13Z- sync is 1.17, coherence is 2.00 2020-12-09T06:30:13Z- handleDvl() - RDI_Pathfinder msg: 1607495413.96 epoch sec; seqNo:47 2020-12-09T06:30:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 77.99 , 96.54 , 73.09 , 102.62 2020-12-09T06:30:13Z- handleDvl() - RDI_Pathfinder msg: velocities 1.48 , 0.26 , -0.34 2020-12-09T06:30:13Z- waiting for 1607495412.91, time is 1607495413.96 2020-12-09T06:30:13Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:13Z- LcmTrn::updateTrn() >>>> pose time 1607495413.94, meas time 1607495413.96 <<<< 2020-12-09T06:30:13Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495413.96 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:30:13Z- TerrainNav::motionUpdate() - currEstimate = (4061675, 594721.22, 2.54) 2020-12-09T06:30:13Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:30:13Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:30:13Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:30:13Z- TNavBF::mmse selected from filter -1 2020-12-09T06:30:13Z- variances([0], [2], and psi_berg) = 832.694987 833.244934 0.000000 2020-12-09T06:30:13Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:30:13Z- LcmTrn::cycle() - MLE : 4061626.03 594672.72 2.54 2020-12-09T06:30:13Z- LcmTrn::cycle() - MMSE : 4061674.53 594721.22 2.54 2020-12-09T06:30:13Z- LcmTrn::cycle() - COVAR: 832.69 833.24 25.19 0.00 2020-12-09T06:30:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495413.97 epoch sec; seqNo:86; 4061674.53 north; 594721.22 east 2020-12-09T06:30:13Z- waiting for 1607495416.96, time is 1607495413.96 2020-12-09T06:30:13Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:14Z- AHRS_M2 msg: 1607495414.35 epoch sec; seqNo:78 2020-12-09T06:30:14Z- AHRS_M2 msg: 4.79 phi; -0.23 theta; -0.19 psi 2020-12-09T06:30:14Z- waiting for 1607495416.96, time is 1607495413.96 2020-12-09T06:30:14Z- sync is 0.39, coherence is 2.00 2020-12-09T06:30:14Z- handleDepth()-Depth_Keller msg: 2.64 epoch sec; seqNo:1607495414356; depth 0.00 2020-12-09T06:30:14Z- waiting for 1607495416.96, time is 1607495413.96 2020-12-09T06:30:14Z- sync is 0.39, coherence is 2.00 2020-12-09T06:30:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495414.37 epoch sec; seqNo:87; 4061674.52 north; 594720.00 east 2020-12-09T06:30:14Z- waiting for 1607495416.96, time is 1607495413.96 2020-12-09T06:30:14Z- sync is 0.41, coherence is 2.00 2020-12-09T06:30:14Z- AHRS_M2 msg: 1607495414.75 epoch sec; seqNo:79 2020-12-09T06:30:14Z- AHRS_M2 msg: 4.79 phi; -0.22 theta; -0.18 psi 2020-12-09T06:30:14Z- waiting for 1607495416.96, time is 1607495413.96 2020-12-09T06:30:14Z- sync is 0.79, coherence is 2.00 2020-12-09T06:30:14Z- handleDepth()-Depth_Keller msg: 2.72 epoch sec; seqNo:1607495414754; depth 0.00 2020-12-09T06:30:14Z- waiting for 1607495416.96, time is 1607495413.96 2020-12-09T06:30:14Z- sync is 0.79, coherence is 2.00 2020-12-09T06:30:14Z- handleDvl() - RDI_Pathfinder msg: 1607495414.77 epoch sec; seqNo:48 2020-12-09T06:30:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 76.36 , 97.96 , 74.72 , 96.74 2020-12-09T06:30:14Z- handleDvl() - RDI_Pathfinder msg: velocities 1.53 , 0.36 , -0.02 2020-12-09T06:30:14Z- waiting for 1607495416.96, time is 1607495414.77 2020-12-09T06:30:14Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495414.79 epoch sec; seqNo:88; 4061674.90 north; 594719.99 east 2020-12-09T06:30:14Z- waiting for 1607495416.96, time is 1607495414.77 2020-12-09T06:30:14Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:15Z- AHRS_M2 msg: 1607495415.15 epoch sec; seqNo:80 2020-12-09T06:30:15Z- AHRS_M2 msg: 4.78 phi; -0.20 theta; -0.17 psi 2020-12-09T06:30:15Z- waiting for 1607495416.96, time is 1607495414.77 2020-12-09T06:30:15Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:15Z- handleDepth()-Depth_Keller msg: 2.82 epoch sec; seqNo:1607495415162; depth 0.00 2020-12-09T06:30:15Z- waiting for 1607495416.96, time is 1607495414.77 2020-12-09T06:30:15Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495415.19 epoch sec; seqNo:89; 4061674.88 north; 594718.77 east 2020-12-09T06:30:15Z- waiting for 1607495416.96, time is 1607495414.77 2020-12-09T06:30:15Z- sync is 0.42, coherence is 2.00 2020-12-09T06:30:15Z- AHRS_M2 msg: 1607495415.56 epoch sec; seqNo:81 2020-12-09T06:30:15Z- AHRS_M2 msg: 4.77 phi; -0.19 theta; -0.17 psi 2020-12-09T06:30:15Z- waiting for 1607495416.96, time is 1607495414.77 2020-12-09T06:30:15Z- sync is 0.79, coherence is 2.00 2020-12-09T06:30:15Z- handleDepth()-Depth_Keller msg: 2.92 epoch sec; seqNo:1607495415562; depth 0.00 2020-12-09T06:30:15Z- waiting for 1607495416.96, time is 1607495414.77 2020-12-09T06:30:15Z- sync is 0.79, coherence is 2.00 2020-12-09T06:30:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495415.57 epoch sec; seqNo:90; 4061675.26 north; 594718.77 east 2020-12-09T06:30:15Z- waiting for 1607495416.96, time is 1607495414.77 2020-12-09T06:30:15Z- sync is 0.80, coherence is 2.00 2020-12-09T06:30:15Z- AHRS_M2 msg: 1607495415.96 epoch sec; seqNo:82 2020-12-09T06:30:15Z- AHRS_M2 msg: 4.75 phi; -0.19 theta; -0.18 psi 2020-12-09T06:30:15Z- waiting for 1607495416.96, time is 1607495414.77 2020-12-09T06:30:15Z- sync is 1.19, coherence is 2.00 2020-12-09T06:30:15Z- handleDepth()-Depth_Keller msg: 3.00 epoch sec; seqNo:1607495415978; depth 0.00 2020-12-09T06:30:15Z- waiting for 1607495416.96, time is 1607495414.77 2020-12-09T06:30:15Z- sync is 1.19, coherence is 2.00 2020-12-09T06:30:15Z- handleDvl() - RDI_Pathfinder msg: 1607495415.99 epoch sec; seqNo:49 2020-12-09T06:30:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.95 , 94.38 , 75.13 , 98.03 2020-12-09T06:30:15Z- handleDvl() - RDI_Pathfinder msg: velocities 1.40 , 0.44 , 0.52 2020-12-09T06:30:15Z- waiting for 1607495416.96, time is 1607495415.99 2020-12-09T06:30:15Z- sync is 0.03, coherence is 2.00 2020-12-09T06:30:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495416.00 epoch sec; seqNo:91; 4061675.25 north; 594717.55 east 2020-12-09T06:30:16Z- waiting for 1607495416.96, time is 1607495415.99 2020-12-09T06:30:16Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:16Z- AHRS_M2 msg: 1607495416.37 epoch sec; seqNo:83 2020-12-09T06:30:16Z- AHRS_M2 msg: 4.74 phi; -0.18 theta; -0.20 psi 2020-12-09T06:30:16Z- waiting for 1607495416.96, time is 1607495415.99 2020-12-09T06:30:16Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:16Z- handleDepth()-Depth_Keller msg: 3.09 epoch sec; seqNo:1607495416375; depth 0.00 2020-12-09T06:30:16Z- waiting for 1607495416.96, time is 1607495415.99 2020-12-09T06:30:16Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495416.40 epoch sec; seqNo:92; 4061675.63 north; 594717.54 east 2020-12-09T06:30:16Z- waiting for 1607495416.96, time is 1607495415.99 2020-12-09T06:30:16Z- sync is 0.40, coherence is 2.00 2020-12-09T06:30:16Z- AHRS_M2 msg: 1607495416.77 epoch sec; seqNo:84 2020-12-09T06:30:16Z- AHRS_M2 msg: 4.72 phi; -0.19 theta; -0.24 psi 2020-12-09T06:30:16Z- waiting for 1607495416.96, time is 1607495415.99 2020-12-09T06:30:16Z- sync is 0.78, coherence is 2.00 2020-12-09T06:30:16Z- handleDepth()-Depth_Keller msg: 3.19 epoch sec; seqNo:1607495416776; depth 0.00 2020-12-09T06:30:16Z- waiting for 1607495416.96, time is 1607495415.99 2020-12-09T06:30:16Z- sync is 0.78, coherence is 2.00 2020-12-09T06:30:16Z- handleDvl() - RDI_Pathfinder msg: 1607495416.79 epoch sec; seqNo:50 2020-12-09T06:30:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.13 , 96.88 , 76.77 , 95.66 2020-12-09T06:30:16Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , 0.38 , 0.72 2020-12-09T06:30:16Z- waiting for 1607495416.96, time is 1607495416.79 2020-12-09T06:30:16Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495416.80 epoch sec; seqNo:93; 4061675.63 north; 594717.54 east 2020-12-09T06:30:16Z- waiting for 1607495416.96, time is 1607495416.79 2020-12-09T06:30:16Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:17Z- AHRS_M2 msg: 1607495417.19 epoch sec; seqNo:85 2020-12-09T06:30:17Z- AHRS_M2 msg: 4.70 phi; -0.19 theta; -0.27 psi 2020-12-09T06:30:17Z- waiting for 1607495416.96, time is 1607495416.79 2020-12-09T06:30:17Z- sync is 0.40, coherence is 2.00 2020-12-09T06:30:17Z- handleDepth()-Depth_Keller msg: 3.27 epoch sec; seqNo:1607495417201; depth 0.00 2020-12-09T06:30:17Z- waiting for 1607495416.96, time is 1607495416.79 2020-12-09T06:30:17Z- sync is 0.40, coherence is 2.00 2020-12-09T06:30:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495417.22 epoch sec; seqNo:94; 4061675.99 north; 594716.32 east 2020-12-09T06:30:17Z- waiting for 1607495416.96, time is 1607495416.79 2020-12-09T06:30:17Z- sync is 0.43, coherence is 2.00 2020-12-09T06:30:17Z- AHRS_M2 msg: 1607495417.62 epoch sec; seqNo:86 2020-12-09T06:30:17Z- AHRS_M2 msg: 4.68 phi; -0.19 theta; -0.29 psi 2020-12-09T06:30:17Z- waiting for 1607495416.96, time is 1607495416.79 2020-12-09T06:30:17Z- sync is 0.83, coherence is 2.00 2020-12-09T06:30:17Z- handleDepth()-Depth_Keller msg: 3.35 epoch sec; seqNo:1607495417628; depth 0.00 2020-12-09T06:30:17Z- waiting for 1607495416.96, time is 1607495416.79 2020-12-09T06:30:17Z- sync is 0.83, coherence is 2.00 2020-12-09T06:30:17Z- handleDvl() - RDI_Pathfinder msg: 1607495417.65 epoch sec; seqNo:51 2020-12-09T06:30:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.32 , 107.82 , 0.00 , 96.88 2020-12-09T06:30:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.70 , 0.21 , 0.81 2020-12-09T06:30:17Z- waiting for 1607495416.96, time is 1607495417.65 2020-12-09T06:30:17Z- sync is 0.03, coherence is 2.00 2020-12-09T06:30:17Z- LcmTrn::updateTrn() >>>> pose time 1607495417.62, meas time 1607495417.65 <<<< 2020-12-09T06:30:17Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495417.65 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:30:17Z- TerrainNav::motionUpdate() - currEstimate = (4061676, 594716.32, 3.35) 2020-12-09T06:30:17Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:30:17Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:30:17Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:30:17Z- TNavBF::mmse selected from filter -1 2020-12-09T06:30:17Z- variances([0], [2], and psi_berg) = 832.050738 833.239239 0.000000 2020-12-09T06:30:17Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:30:17Z- LcmTrn::cycle() - MLE : 4061628.49 594668.82 3.35 2020-12-09T06:30:17Z- LcmTrn::cycle() - MMSE : 4061675.99 594716.32 3.35 2020-12-09T06:30:17Z- LcmTrn::cycle() - COVAR: 832.05 833.24 25.45 0.00 2020-12-09T06:30:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495417.67 epoch sec; seqNo:95; 4061676.37 north; 594716.32 east 2020-12-09T06:30:17Z- waiting for 1607495420.65, time is 1607495417.65 2020-12-09T06:30:17Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:17Z- AHRS_M2 msg: 1607495418.00 epoch sec; seqNo:87 2020-12-09T06:30:17Z- AHRS_M2 msg: 4.67 phi; -0.20 theta; -0.30 psi 2020-12-09T06:30:17Z- waiting for 1607495420.65, time is 1607495417.65 2020-12-09T06:30:18Z- sync is 0.35, coherence is 2.00 2020-12-09T06:30:18Z- handleDepth()-Depth_Keller msg: 3.44 epoch sec; seqNo:1607495418002; depth 0.00 2020-12-09T06:30:18Z- waiting for 1607495420.65, time is 1607495417.65 2020-12-09T06:30:18Z- sync is 0.35, coherence is 2.00 2020-12-09T06:30:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495418.03 epoch sec; seqNo:96; 4061676.37 north; 594716.32 east 2020-12-09T06:30:18Z- waiting for 1607495420.65, time is 1607495417.65 2020-12-09T06:30:18Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:18Z- AHRS_M2 msg: 1607495418.40 epoch sec; seqNo:88 2020-12-09T06:30:18Z- AHRS_M2 msg: 4.66 phi; -0.20 theta; -0.30 psi 2020-12-09T06:30:18Z- waiting for 1607495420.65, time is 1607495417.65 2020-12-09T06:30:18Z- sync is 0.76, coherence is 2.00 2020-12-09T06:30:18Z- handleDepth()-Depth_Keller msg: 3.52 epoch sec; seqNo:1607495418411; depth 0.00 2020-12-09T06:30:18Z- waiting for 1607495420.65, time is 1607495417.65 2020-12-09T06:30:18Z- sync is 0.76, coherence is 2.00 2020-12-09T06:30:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495418.42 epoch sec; seqNo:97; 4061676.37 north; 594716.32 east 2020-12-09T06:30:18Z- waiting for 1607495420.65, time is 1607495417.65 2020-12-09T06:30:18Z- sync is 0.78, coherence is 2.00 2020-12-09T06:30:18Z- AHRS_M2 msg: 1607495418.81 epoch sec; seqNo:89 2020-12-09T06:30:18Z- AHRS_M2 msg: 4.65 phi; -0.20 theta; -0.30 psi 2020-12-09T06:30:18Z- waiting for 1607495420.65, time is 1607495417.65 2020-12-09T06:30:18Z- sync is 1.16, coherence is 2.00 2020-12-09T06:30:18Z- handleDepth()-Depth_Keller msg: 3.59 epoch sec; seqNo:1607495418815; depth 0.00 2020-12-09T06:30:18Z- waiting for 1607495420.65, time is 1607495417.65 2020-12-09T06:30:18Z- sync is 1.16, coherence is 2.00 2020-12-09T06:30:18Z- handleDvl() - RDI_Pathfinder msg: 1607495418.83 epoch sec; seqNo:52 2020-12-09T06:30:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.32 , 112.47 , 82.76 , 96.27 2020-12-09T06:30:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.38 , 0.14 , 0.75 2020-12-09T06:30:18Z- waiting for 1607495420.65, time is 1607495418.83 2020-12-09T06:30:18Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495418.84 epoch sec; seqNo:98; 4061676.75 north; 594716.31 east 2020-12-09T06:30:18Z- waiting for 1607495420.65, time is 1607495418.83 2020-12-09T06:30:18Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:19Z- AHRS_M2 msg: 1607495419.21 epoch sec; seqNo:90 2020-12-09T06:30:19Z- AHRS_M2 msg: 4.64 phi; -0.20 theta; -0.30 psi 2020-12-09T06:30:19Z- waiting for 1607495420.65, time is 1607495418.83 2020-12-09T06:30:19Z- sync is 0.39, coherence is 2.00 2020-12-09T06:30:19Z- handleDepth()-Depth_Keller msg: 3.66 epoch sec; seqNo:1607495419219; depth 0.00 2020-12-09T06:30:19Z- waiting for 1607495420.65, time is 1607495418.83 2020-12-09T06:30:19Z- sync is 0.39, coherence is 2.00 2020-12-09T06:30:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495419.24 epoch sec; seqNo:99; 4061676.74 north; 594715.09 east 2020-12-09T06:30:19Z- waiting for 1607495420.65, time is 1607495418.83 2020-12-09T06:30:19Z- sync is 0.41, coherence is 2.00 2020-12-09T06:30:19Z- AHRS_M2 msg: 1607495419.61 epoch sec; seqNo:91 2020-12-09T06:30:19Z- AHRS_M2 msg: 4.62 phi; -0.20 theta; -0.30 psi 2020-12-09T06:30:19Z- waiting for 1607495420.65, time is 1607495418.83 2020-12-09T06:30:19Z- sync is 0.79, coherence is 2.00 2020-12-09T06:30:19Z- handleDepth()-Depth_Keller msg: 3.74 epoch sec; seqNo:1607495419619; depth 0.00 2020-12-09T06:30:19Z- waiting for 1607495420.65, time is 1607495418.83 2020-12-09T06:30:19Z- sync is 0.79, coherence is 2.00 2020-12-09T06:30:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495419.63 epoch sec; seqNo:100; 4061676.74 north; 594715.09 east 2020-12-09T06:30:19Z- waiting for 1607495420.65, time is 1607495418.83 2020-12-09T06:30:19Z- sync is 0.80, coherence is 2.00 2020-12-09T06:30:20Z- AHRS_M2 msg: 1607495420.02 epoch sec; seqNo:92 2020-12-09T06:30:20Z- AHRS_M2 msg: 4.61 phi; -0.20 theta; -0.31 psi 2020-12-09T06:30:20Z- waiting for 1607495420.65, time is 1607495418.83 2020-12-09T06:30:20Z- sync is 1.19, coherence is 2.00 2020-12-09T06:30:20Z- handleDepth()-Depth_Keller msg: 3.82 epoch sec; seqNo:1607495420023; depth 0.00 2020-12-09T06:30:20Z- waiting for 1607495420.65, time is 1607495418.83 2020-12-09T06:30:20Z- sync is 1.19, coherence is 2.00 2020-12-09T06:30:20Z- handleDvl() - RDI_Pathfinder msg: 1607495420.04 epoch sec; seqNo:53 2020-12-09T06:30:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 75.13 , 110.99 , 81.82 , 96.40 2020-12-09T06:30:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.08 , 0.02 , 0.37 2020-12-09T06:30:20Z- waiting for 1607495420.65, time is 1607495420.04 2020-12-09T06:30:20Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495420.05 epoch sec; seqNo:101; 4061677.12 north; 594715.09 east 2020-12-09T06:30:20Z- waiting for 1607495420.65, time is 1607495420.04 2020-12-09T06:30:20Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:20Z- AHRS_M2 msg: 1607495420.44 epoch sec; seqNo:93 2020-12-09T06:30:20Z- AHRS_M2 msg: 4.61 phi; -0.20 theta; -0.32 psi 2020-12-09T06:30:20Z- waiting for 1607495420.65, time is 1607495420.04 2020-12-09T06:30:20Z- sync is 0.41, coherence is 2.00 2020-12-09T06:30:20Z- handleDepth()-Depth_Keller msg: 3.89 epoch sec; seqNo:1607495420456; depth 0.00 2020-12-09T06:30:20Z- waiting for 1607495420.65, time is 1607495420.04 2020-12-09T06:30:20Z- sync is 0.41, coherence is 2.00 2020-12-09T06:30:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495420.47 epoch sec; seqNo:102; 4061677.12 north; 594715.09 east 2020-12-09T06:30:20Z- waiting for 1607495420.65, time is 1607495420.04 2020-12-09T06:30:20Z- sync is 0.43, coherence is 2.00 2020-12-09T06:30:20Z- AHRS_M2 msg: 1607495420.84 epoch sec; seqNo:94 2020-12-09T06:30:20Z- AHRS_M2 msg: 4.61 phi; -0.21 theta; -0.33 psi 2020-12-09T06:30:20Z- waiting for 1607495420.65, time is 1607495420.04 2020-12-09T06:30:20Z- sync is 0.80, coherence is 2.00 2020-12-09T06:30:20Z- handleDepth()-Depth_Keller msg: 3.95 epoch sec; seqNo:1607495420850; depth 0.00 2020-12-09T06:30:20Z- waiting for 1607495420.65, time is 1607495420.04 2020-12-09T06:30:20Z- sync is 0.80, coherence is 2.00 2020-12-09T06:30:20Z- handleDvl() - RDI_Pathfinder msg: 1607495420.86 epoch sec; seqNo:54 2020-12-09T06:30:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.32 , 112.21 , 80.60 , 96.40 2020-12-09T06:30:20Z- handleDvl() - RDI_Pathfinder msg: velocities -0.07 , -0.17 , -0.03 2020-12-09T06:30:20Z- waiting for 1607495420.65, time is 1607495420.86 2020-12-09T06:30:20Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:20Z- LcmTrn::updateTrn() >>>> pose time 1607495420.84, meas time 1607495420.86 <<<< 2020-12-09T06:30:20Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495420.86 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:30:20Z- TerrainNav::motionUpdate() - currEstimate = (4061677, 594715.09, 3.95) 2020-12-09T06:30:20Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:30:20Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:30:20Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:30:20Z- TNavBF::mmse selected from filter -1 2020-12-09T06:30:20Z- variances([0], [2], and psi_berg) = 831.690352 833.236170 0.000000 2020-12-09T06:30:20Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:30:20Z- LcmTrn::cycle() - MLE : 4061630.62 594668.59 3.95 2020-12-09T06:30:20Z- LcmTrn::cycle() - MMSE : 4061677.12 594715.09 3.95 2020-12-09T06:30:20Z- LcmTrn::cycle() - COVAR: 831.69 833.24 25.53 0.00 2020-12-09T06:30:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495420.87 epoch sec; seqNo:103; 4061677.12 north; 594715.09 east 2020-12-09T06:30:20Z- waiting for 1607495423.86, time is 1607495420.86 2020-12-09T06:30:20Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:21Z- AHRS_M2 msg: 1607495421.24 epoch sec; seqNo:95 2020-12-09T06:30:21Z- AHRS_M2 msg: 4.61 phi; -0.21 theta; -0.33 psi 2020-12-09T06:30:21Z- waiting for 1607495423.86, time is 1607495420.86 2020-12-09T06:30:21Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:21Z- handleDepth()-Depth_Keller msg: 3.99 epoch sec; seqNo:1607495421250; depth 0.00 2020-12-09T06:30:21Z- waiting for 1607495423.86, time is 1607495420.86 2020-12-09T06:30:21Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:21Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:30:21Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:30:21Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:30:21Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:30:21Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:30:21Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:30:21Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:30:21Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:30:21Z- handleDvl() - RDI_Pathfinder msg: 1607495421.25 epoch sec; seqNo:55 2020-12-09T06:30:21Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:30:21Z- handleDvl() - RDI_Pathfinder msg: velocities -0.07 , -0.17 , -0.03 2020-12-09T06:30:21Z- waiting for 1607495423.86, time is 1607495421.25 2020-12-09T06:30:21Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495421.26 epoch sec; seqNo:104; 4061676.74 north; 594715.09 east 2020-12-09T06:30:21Z- waiting for 1607495423.86, time is 1607495421.25 2020-12-09T06:30:21Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:21Z- AHRS_M2 msg: 1607495421.64 epoch sec; seqNo:96 2020-12-09T06:30:21Z- AHRS_M2 msg: 4.61 phi; -0.21 theta; -0.32 psi 2020-12-09T06:30:21Z- waiting for 1607495423.86, time is 1607495421.25 2020-12-09T06:30:21Z- sync is 0.39, coherence is 2.00 2020-12-09T06:30:21Z- handleDepth()-Depth_Keller msg: 4.04 epoch sec; seqNo:1607495421652; depth 0.00 2020-12-09T06:30:21Z- waiting for 1607495423.86, time is 1607495421.25 2020-12-09T06:30:21Z- sync is 0.39, coherence is 2.00 2020-12-09T06:30:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495421.66 epoch sec; seqNo:105; 4061676.74 north; 594715.09 east 2020-12-09T06:30:21Z- waiting for 1607495423.86, time is 1607495421.25 2020-12-09T06:30:21Z- sync is 0.41, coherence is 2.00 2020-12-09T06:30:22Z- AHRS_M2 msg: 1607495422.05 epoch sec; seqNo:97 2020-12-09T06:30:22Z- AHRS_M2 msg: 4.60 phi; -0.21 theta; -0.31 psi 2020-12-09T06:30:22Z- waiting for 1607495423.86, time is 1607495421.25 2020-12-09T06:30:22Z- sync is 0.80, coherence is 2.00 2020-12-09T06:30:22Z- handleDepth()-Depth_Keller msg: 4.08 epoch sec; seqNo:1607495422054; depth 0.00 2020-12-09T06:30:22Z- waiting for 1607495423.86, time is 1607495421.25 2020-12-09T06:30:22Z- sync is 0.80, coherence is 2.00 2020-12-09T06:30:22Z- handleDvl() - RDI_Pathfinder msg: 1607495422.07 epoch sec; seqNo:56 2020-12-09T06:30:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.32 , 113.43 , 81.82 , 101.27 2020-12-09T06:30:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.10 , -0.29 , -0.25 2020-12-09T06:30:22Z- waiting for 1607495423.86, time is 1607495422.07 2020-12-09T06:30:22Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495422.09 epoch sec; seqNo:106; 4061676.74 north; 594715.09 east 2020-12-09T06:30:22Z- waiting for 1607495423.86, time is 1607495422.07 2020-12-09T06:30:22Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:22Z- AHRS_M2 msg: 1607495422.45 epoch sec; seqNo:98 2020-12-09T06:30:22Z- AHRS_M2 msg: 4.60 phi; -0.20 theta; -0.30 psi 2020-12-09T06:30:22Z- waiting for 1607495423.86, time is 1607495422.07 2020-12-09T06:30:22Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:22Z- handleDepth()-Depth_Keller msg: 4.14 epoch sec; seqNo:1607495422462; depth 0.00 2020-12-09T06:30:22Z- waiting for 1607495423.86, time is 1607495422.07 2020-12-09T06:30:22Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495422.48 epoch sec; seqNo:107; 4061676.36 north; 594715.09 east 2020-12-09T06:30:22Z- waiting for 1607495423.86, time is 1607495422.07 2020-12-09T06:30:22Z- sync is 0.41, coherence is 2.00 2020-12-09T06:30:22Z- AHRS_M2 msg: 1607495422.86 epoch sec; seqNo:99 2020-12-09T06:30:22Z- AHRS_M2 msg: 4.60 phi; -0.18 theta; -0.30 psi 2020-12-09T06:30:22Z- waiting for 1607495423.86, time is 1607495422.07 2020-12-09T06:30:22Z- sync is 0.78, coherence is 2.00 2020-12-09T06:30:22Z- handleDepth()-Depth_Keller msg: 4.20 epoch sec; seqNo:1607495422863; depth 0.00 2020-12-09T06:30:22Z- waiting for 1607495423.86, time is 1607495422.07 2020-12-09T06:30:22Z- sync is 0.78, coherence is 2.00 2020-12-09T06:30:22Z- handleDvl() - RDI_Pathfinder msg: 1607495422.88 epoch sec; seqNo:57 2020-12-09T06:30:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 74.32 , 111.13 , 79.63 , 100.33 2020-12-09T06:30:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.48 , -0.31 , -0.48 2020-12-09T06:30:22Z- waiting for 1607495423.86, time is 1607495422.88 2020-12-09T06:30:22Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495422.89 epoch sec; seqNo:108; 4061676.36 north; 594715.09 east 2020-12-09T06:30:22Z- waiting for 1607495423.86, time is 1607495422.88 2020-12-09T06:30:22Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:23Z- AHRS_M2 msg: 1607495423.27 epoch sec; seqNo:100 2020-12-09T06:30:23Z- AHRS_M2 msg: 4.60 phi; -0.17 theta; -0.29 psi 2020-12-09T06:30:23Z- waiting for 1607495423.86, time is 1607495422.88 2020-12-09T06:30:23Z- sync is 0.39, coherence is 2.00 2020-12-09T06:30:23Z- handleDepth()-Depth_Keller msg: 4.24 epoch sec; seqNo:1607495423276; depth 0.00 2020-12-09T06:30:23Z- waiting for 1607495423.86, time is 1607495422.88 2020-12-09T06:30:23Z- sync is 0.39, coherence is 2.00 2020-12-09T06:30:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495423.30 epoch sec; seqNo:109; 4061675.98 north; 594715.10 east 2020-12-09T06:30:23Z- waiting for 1607495423.86, time is 1607495422.88 2020-12-09T06:30:23Z- sync is 0.42, coherence is 2.00 2020-12-09T06:30:23Z- AHRS_M2 msg: 1607495423.67 epoch sec; seqNo:101 2020-12-09T06:30:23Z- AHRS_M2 msg: 4.60 phi; -0.15 theta; -0.28 psi 2020-12-09T06:30:23Z- waiting for 1607495423.86, time is 1607495422.88 2020-12-09T06:30:23Z- sync is 0.80, coherence is 2.00 2020-12-09T06:30:23Z- handleDepth()-Depth_Keller msg: 4.28 epoch sec; seqNo:1607495423686; depth 0.00 2020-12-09T06:30:23Z- waiting for 1607495423.86, time is 1607495422.88 2020-12-09T06:30:23Z- sync is 0.80, coherence is 2.00 2020-12-09T06:30:23Z- handleDvl() - RDI_Pathfinder msg: 1607495423.70 epoch sec; seqNo:58 2020-12-09T06:30:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 73.09 , 108.56 , 79.22 , 98.83 2020-12-09T06:30:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.25 , -0.71 2020-12-09T06:30:23Z- waiting for 1607495423.86, time is 1607495423.70 2020-12-09T06:30:23Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495423.71 epoch sec; seqNo:110; 4061675.98 north; 594715.10 east 2020-12-09T06:30:23Z- waiting for 1607495423.86, time is 1607495423.70 2020-12-09T06:30:23Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:24Z- AHRS_M2 msg: 1607495424.07 epoch sec; seqNo:102 2020-12-09T06:30:24Z- AHRS_M2 msg: 4.60 phi; -0.14 theta; -0.28 psi 2020-12-09T06:30:24Z- waiting for 1607495423.86, time is 1607495423.70 2020-12-09T06:30:24Z- sync is 0.37, coherence is 2.00 2020-12-09T06:30:24Z- handleDepth()-Depth_Keller msg: 4.35 epoch sec; seqNo:1607495424074; depth 0.00 2020-12-09T06:30:24Z- waiting for 1607495423.86, time is 1607495423.70 2020-12-09T06:30:24Z- sync is 0.37, coherence is 2.00 2020-12-09T06:30:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495424.09 epoch sec; seqNo:111; 4061675.60 north; 594715.10 east 2020-12-09T06:30:24Z- waiting for 1607495423.86, time is 1607495423.70 2020-12-09T06:30:24Z- sync is 0.39, coherence is 2.00 2020-12-09T06:30:24Z- AHRS_M2 msg: 1607495424.47 epoch sec; seqNo:103 2020-12-09T06:30:24Z- AHRS_M2 msg: 4.60 phi; -0.12 theta; -0.27 psi 2020-12-09T06:30:24Z- waiting for 1607495423.86, time is 1607495423.70 2020-12-09T06:30:24Z- sync is 0.77, coherence is 2.00 2020-12-09T06:30:24Z- handleDepth()-Depth_Keller msg: 4.36 epoch sec; seqNo:1607495424476; depth 0.00 2020-12-09T06:30:24Z- waiting for 1607495423.86, time is 1607495423.70 2020-12-09T06:30:24Z- sync is 0.77, coherence is 2.00 2020-12-09T06:30:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495424.49 epoch sec; seqNo:112; 4061675.59 north; 594713.88 east 2020-12-09T06:30:24Z- waiting for 1607495423.86, time is 1607495423.70 2020-12-09T06:30:24Z- sync is 0.79, coherence is 2.00 2020-12-09T06:30:24Z- AHRS_M2 msg: 1607495424.88 epoch sec; seqNo:104 2020-12-09T06:30:24Z- AHRS_M2 msg: 4.60 phi; -0.11 theta; -0.26 psi 2020-12-09T06:30:24Z- waiting for 1607495423.86, time is 1607495423.70 2020-12-09T06:30:24Z- sync is 1.18, coherence is 2.00 2020-12-09T06:30:24Z- handleDepth()-Depth_Keller msg: 4.42 epoch sec; seqNo:1607495424886; depth 0.00 2020-12-09T06:30:24Z- waiting for 1607495423.86, time is 1607495423.70 2020-12-09T06:30:24Z- sync is 1.18, coherence is 2.00 2020-12-09T06:30:24Z- handleDvl() - RDI_Pathfinder msg: 1607495424.90 epoch sec; seqNo:59 2020-12-09T06:30:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 73.09 , 103.83 , 79.22 , 94.11 2020-12-09T06:30:24Z- handleDvl() - RDI_Pathfinder msg: velocities 1.25 , -0.12 , -0.73 2020-12-09T06:30:24Z- waiting for 1607495423.86, time is 1607495424.90 2020-12-09T06:30:24Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:24Z- LcmTrn::updateTrn() >>>> pose time 1607495424.88, meas time 1607495424.90 <<<< 2020-12-09T06:30:24Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495424.90 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:30:24Z- TerrainNav::motionUpdate() - currEstimate = (4061676, 594713.88, 4.42) 2020-12-09T06:30:24Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:30:24Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:30:24Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:30:24Z- TNavBF::mmse selected from filter -1 2020-12-09T06:30:24Z- variances([0], [2], and psi_berg) = 831.305541 833.232960 0.000000 2020-12-09T06:30:24Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:30:24Z- LcmTrn::cycle() - MLE : 4061630.09 594668.38 4.42 2020-12-09T06:30:24Z- LcmTrn::cycle() - MMSE : 4061675.59 594713.88 4.42 2020-12-09T06:30:24Z- LcmTrn::cycle() - COVAR: 831.31 833.23 25.63 0.00 2020-12-09T06:30:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495424.91 epoch sec; seqNo:113; 4061675.21 north; 594713.89 east 2020-12-09T06:30:24Z- waiting for 1607495427.90, time is 1607495424.90 2020-12-09T06:30:24Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:25Z- AHRS_M2 msg: 1607495425.28 epoch sec; seqNo:105 2020-12-09T06:30:25Z- AHRS_M2 msg: 4.60 phi; -0.09 theta; -0.24 psi 2020-12-09T06:30:25Z- waiting for 1607495427.90, time is 1607495424.90 2020-12-09T06:30:25Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:25Z- handleDepth()-Depth_Keller msg: 4.47 epoch sec; seqNo:1607495425300; depth 0.00 2020-12-09T06:30:25Z- waiting for 1607495427.90, time is 1607495424.90 2020-12-09T06:30:25Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495425.31 epoch sec; seqNo:114; 4061675.20 north; 594712.67 east 2020-12-09T06:30:25Z- waiting for 1607495427.90, time is 1607495424.90 2020-12-09T06:30:25Z- sync is 0.41, coherence is 2.00 2020-12-09T06:30:25Z- AHRS_M2 msg: 1607495425.69 epoch sec; seqNo:106 2020-12-09T06:30:25Z- AHRS_M2 msg: 4.59 phi; -0.08 theta; -0.22 psi 2020-12-09T06:30:25Z- waiting for 1607495427.90, time is 1607495424.90 2020-12-09T06:30:25Z- sync is 0.79, coherence is 2.00 2020-12-09T06:30:25Z- handleDepth()-Depth_Keller msg: 4.50 epoch sec; seqNo:1607495425690; depth 0.00 2020-12-09T06:30:25Z- waiting for 1607495427.90, time is 1607495424.90 2020-12-09T06:30:25Z- sync is 0.79, coherence is 2.00 2020-12-09T06:30:25Z- handleDvl() - RDI_Pathfinder msg: 1607495425.70 epoch sec; seqNo:60 2020-12-09T06:30:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 72.28 , 96.74 , 77.99 , 0.00 2020-12-09T06:30:25Z- handleDvl() - RDI_Pathfinder msg: velocities 1.56 , 0.12 , -0.40 2020-12-09T06:30:25Z- waiting for 1607495427.90, time is 1607495425.70 2020-12-09T06:30:25Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495425.74 epoch sec; seqNo:115; 4061675.20 north; 594712.67 east 2020-12-09T06:30:25Z- waiting for 1607495427.90, time is 1607495425.70 2020-12-09T06:30:25Z- sync is 0.03, coherence is 2.00 2020-12-09T06:30:26Z- AHRS_M2 msg: 1607495426.09 epoch sec; seqNo:107 2020-12-09T06:30:26Z- AHRS_M2 msg: 4.59 phi; -0.06 theta; -0.20 psi 2020-12-09T06:30:26Z- waiting for 1607495427.90, time is 1607495425.70 2020-12-09T06:30:26Z- sync is 0.39, coherence is 2.00 2020-12-09T06:30:26Z- handleDepth()-Depth_Keller msg: 4.56 epoch sec; seqNo:1607495426098; depth 0.00 2020-12-09T06:30:26Z- waiting for 1607495427.90, time is 1607495425.70 2020-12-09T06:30:26Z- sync is 0.39, coherence is 2.00 2020-12-09T06:30:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495426.11 epoch sec; seqNo:116; 4061674.80 north; 594711.45 east 2020-12-09T06:30:26Z- waiting for 1607495427.90, time is 1607495425.70 2020-12-09T06:30:26Z- sync is 0.41, coherence is 2.00 2020-12-09T06:30:26Z- AHRS_M2 msg: 1607495426.49 epoch sec; seqNo:108 2020-12-09T06:30:26Z- AHRS_M2 msg: 4.58 phi; -0.04 theta; -0.18 psi 2020-12-09T06:30:26Z- waiting for 1607495427.90, time is 1607495425.70 2020-12-09T06:30:26Z- sync is 0.79, coherence is 2.00 2020-12-09T06:30:26Z- handleDepth()-Depth_Keller msg: 4.59 epoch sec; seqNo:1607495426500; depth 0.00 2020-12-09T06:30:26Z- waiting for 1607495427.90, time is 1607495425.70 2020-12-09T06:30:26Z- sync is 0.79, coherence is 2.00 2020-12-09T06:30:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495426.51 epoch sec; seqNo:117; 4061674.80 north; 594711.45 east 2020-12-09T06:30:26Z- waiting for 1607495427.90, time is 1607495425.70 2020-12-09T06:30:26Z- sync is 0.81, coherence is 2.00 2020-12-09T06:30:26Z- AHRS_M2 msg: 1607495426.90 epoch sec; seqNo:109 2020-12-09T06:30:26Z- AHRS_M2 msg: 4.57 phi; -0.03 theta; -0.17 psi 2020-12-09T06:30:26Z- waiting for 1607495427.90, time is 1607495425.70 2020-12-09T06:30:26Z- sync is 1.19, coherence is 2.00 2020-12-09T06:30:26Z- handleDepth()-Depth_Keller msg: 4.65 epoch sec; seqNo:1607495426906; depth 0.00 2020-12-09T06:30:26Z- waiting for 1607495427.90, time is 1607495425.70 2020-12-09T06:30:26Z- sync is 1.19, coherence is 2.00 2020-12-09T06:30:26Z- handleDvl() - RDI_Pathfinder msg: 1607495426.93 epoch sec; seqNo:61 2020-12-09T06:30:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 73.09 , 94.72 , 78.40 , 84.99 2020-12-09T06:30:26Z- handleDvl() - RDI_Pathfinder msg: velocities 1.55 , 0.41 , -0.01 2020-12-09T06:30:26Z- waiting for 1607495427.90, time is 1607495426.93 2020-12-09T06:30:26Z- sync is 0.03, coherence is 2.00 2020-12-09T06:30:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495426.94 epoch sec; seqNo:118; 4061674.79 north; 594710.23 east 2020-12-09T06:30:26Z- waiting for 1607495427.90, time is 1607495426.93 2020-12-09T06:30:26Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:27Z- AHRS_M2 msg: 1607495427.32 epoch sec; seqNo:110 2020-12-09T06:30:27Z- AHRS_M2 msg: 4.56 phi; -0.01 theta; -0.16 psi 2020-12-09T06:30:27Z- waiting for 1607495427.90, time is 1607495426.93 2020-12-09T06:30:27Z- sync is 0.39, coherence is 2.00 2020-12-09T06:30:27Z- handleDepth()-Depth_Keller msg: 4.69 epoch sec; seqNo:1607495427336; depth 0.00 2020-12-09T06:30:27Z- waiting for 1607495427.90, time is 1607495426.93 2020-12-09T06:30:27Z- sync is 0.39, coherence is 2.00 2020-12-09T06:30:27Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:30:27Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:30:27Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:30:27Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:30:27Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:30:27Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:30:27Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:30:27Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:30:27Z- handleDvl() - RDI_Pathfinder msg: 1607495427.34 epoch sec; seqNo:62 2020-12-09T06:30:27Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:30:27Z- handleDvl() - RDI_Pathfinder msg: velocities 1.55 , 0.41 , -0.01 2020-12-09T06:30:27Z- waiting for 1607495427.90, time is 1607495427.34 2020-12-09T06:30:27Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495427.35 epoch sec; seqNo:119; 4061675.17 north; 594710.23 east 2020-12-09T06:30:27Z- waiting for 1607495427.90, time is 1607495427.34 2020-12-09T06:30:27Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:27Z- AHRS_M2 msg: 1607495427.71 epoch sec; seqNo:111 2020-12-09T06:30:27Z- AHRS_M2 msg: 4.55 phi; -0.01 theta; -0.16 psi 2020-12-09T06:30:27Z- waiting for 1607495427.90, time is 1607495427.34 2020-12-09T06:30:27Z- sync is 0.37, coherence is 2.00 2020-12-09T06:30:27Z- handleDepth()-Depth_Keller msg: 4.73 epoch sec; seqNo:1607495427715; depth 0.00 2020-12-09T06:30:27Z- waiting for 1607495427.90, time is 1607495427.34 2020-12-09T06:30:27Z- sync is 0.37, coherence is 2.00 2020-12-09T06:30:27Z- handleDvl() - RDI_Pathfinder msg: 1607495427.73 epoch sec; seqNo:63 2020-12-09T06:30:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 73.09 , 98.36 , 79.22 , 83.78 2020-12-09T06:30:27Z- handleDvl() - RDI_Pathfinder msg: velocities 1.33 , 0.49 , 0.26 2020-12-09T06:30:27Z- waiting for 1607495427.90, time is 1607495427.73 2020-12-09T06:30:27Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495427.74 epoch sec; seqNo:120; 4061675.16 north; 594709.01 east 2020-12-09T06:30:27Z- waiting for 1607495427.90, time is 1607495427.73 2020-12-09T06:30:27Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:28Z- AHRS_M2 msg: 1607495428.11 epoch sec; seqNo:112 2020-12-09T06:30:28Z- AHRS_M2 msg: 4.53 phi; -0.01 theta; -0.17 psi 2020-12-09T06:30:28Z- waiting for 1607495427.90, time is 1607495427.73 2020-12-09T06:30:28Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:28Z- handleDepth()-Depth_Keller msg: 4.76 epoch sec; seqNo:1607495428115; depth 0.00 2020-12-09T06:30:28Z- waiting for 1607495427.90, time is 1607495427.73 2020-12-09T06:30:28Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495428.14 epoch sec; seqNo:121; 4061675.16 north; 594709.01 east 2020-12-09T06:30:28Z- waiting for 1607495427.90, time is 1607495427.73 2020-12-09T06:30:28Z- sync is 0.41, coherence is 2.00 2020-12-09T06:30:28Z- AHRS_M2 msg: 1607495428.52 epoch sec; seqNo:113 2020-12-09T06:30:28Z- AHRS_M2 msg: 4.52 phi; -0.01 theta; -0.19 psi 2020-12-09T06:30:28Z- waiting for 1607495427.90, time is 1607495427.73 2020-12-09T06:30:28Z- sync is 0.79, coherence is 2.00 2020-12-09T06:30:28Z- handleDepth()-Depth_Keller msg: 4.79 epoch sec; seqNo:1607495428519; depth 0.00 2020-12-09T06:30:28Z- waiting for 1607495427.90, time is 1607495427.73 2020-12-09T06:30:28Z- sync is 0.79, coherence is 2.00 2020-12-09T06:30:28Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:30:28Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:30:28Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:30:28Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:30:28Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:30:28Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:30:28Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:30:28Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:30:28Z- handleDvl() - RDI_Pathfinder msg: 1607495428.52 epoch sec; seqNo:64 2020-12-09T06:30:28Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:30:28Z- handleDvl() - RDI_Pathfinder msg: velocities 1.33 , 0.49 , 0.26 2020-12-09T06:30:28Z- waiting for 1607495427.90, time is 1607495428.52 2020-12-09T06:30:28Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:28Z- LcmTrn::updateTrn() >>>> pose time 1607495428.52, meas time 1607495428.52 <<<< 2020-12-09T06:30:28Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495428.52, ping # 0. 2020-12-09T06:30:28Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495428.52 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:30:28Z- TerrainNav::motionUpdate() - currEstimate = (4061675, 594709.01, 4.79) 2020-12-09T06:30:28Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:30:28Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:30:28Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:30:28Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:30:28Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:30:28Z- TNavBF::mmse selected from filter -1 2020-12-09T06:30:28Z- variances([0], [2], and psi_berg) = 830.702512 833.228039 0.000000 2020-12-09T06:30:28Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:30:28Z- LcmTrn::cycle() - MLE : 4061630.66 594663.51 4.79 2020-12-09T06:30:28Z- LcmTrn::cycle() - MMSE : 4061675.16 594709.01 4.79 2020-12-09T06:30:28Z- LcmTrn::cycle() - COVAR: 830.70 833.23 25.88 0.00 2020-12-09T06:30:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495428.53 epoch sec; seqNo:122; 4061675.14 north; 594707.79 east 2020-12-09T06:30:28Z- waiting for 1607495431.52, time is 1607495428.52 2020-12-09T06:30:28Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:28Z- AHRS_M2 msg: 1607495428.93 epoch sec; seqNo:114 2020-12-09T06:30:28Z- AHRS_M2 msg: 4.51 phi; -0.02 theta; -0.20 psi 2020-12-09T06:30:28Z- waiting for 1607495431.52, time is 1607495428.52 2020-12-09T06:30:28Z- sync is 0.41, coherence is 2.00 2020-12-09T06:30:28Z- handleDepth()-Depth_Keller msg: 4.81 epoch sec; seqNo:1607495428939; depth 0.00 2020-12-09T06:30:28Z- waiting for 1607495431.52, time is 1607495428.52 2020-12-09T06:30:28Z- sync is 0.41, coherence is 2.00 2020-12-09T06:30:28Z- handleDvl() - RDI_Pathfinder msg: 1607495428.95 epoch sec; seqNo:65 2020-12-09T06:30:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 71.46 , 98.29 , 81.28 , 0.00 2020-12-09T06:30:28Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , 0.27 , 0.31 2020-12-09T06:30:28Z- waiting for 1607495431.52, time is 1607495428.95 2020-12-09T06:30:28Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495428.98 epoch sec; seqNo:123; 4061675.52 north; 594707.78 east 2020-12-09T06:30:28Z- waiting for 1607495431.52, time is 1607495428.95 2020-12-09T06:30:28Z- sync is 0.03, coherence is 2.00 2020-12-09T06:30:29Z- AHRS_M2 msg: 1607495429.32 epoch sec; seqNo:115 2020-12-09T06:30:29Z- AHRS_M2 msg: 4.50 phi; -0.02 theta; -0.21 psi 2020-12-09T06:30:29Z- waiting for 1607495431.52, time is 1607495428.95 2020-12-09T06:30:29Z- sync is 0.37, coherence is 2.00 2020-12-09T06:30:29Z- handleDepth()-Depth_Keller msg: 4.83 epoch sec; seqNo:1607495429328; depth 0.00 2020-12-09T06:30:29Z- waiting for 1607495431.52, time is 1607495428.95 2020-12-09T06:30:29Z- sync is 0.37, coherence is 2.00 2020-12-09T06:30:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495429.34 epoch sec; seqNo:124; 4061675.52 north; 594707.78 east 2020-12-09T06:30:29Z- waiting for 1607495431.52, time is 1607495428.95 2020-12-09T06:30:29Z- sync is 0.39, coherence is 2.00 2020-12-09T06:30:29Z- AHRS_M2 msg: 1607495429.73 epoch sec; seqNo:116 2020-12-09T06:30:29Z- AHRS_M2 msg: 4.49 phi; -0.02 theta; -0.21 psi 2020-12-09T06:30:29Z- waiting for 1607495431.52, time is 1607495428.95 2020-12-09T06:30:29Z- sync is 0.78, coherence is 2.00 2020-12-09T06:30:29Z- handleDepth()-Depth_Keller msg: 4.84 epoch sec; seqNo:1607495429746; depth 0.00 2020-12-09T06:30:29Z- waiting for 1607495431.52, time is 1607495428.95 2020-12-09T06:30:29Z- sync is 0.78, coherence is 2.00 2020-12-09T06:30:29Z- handleDvl() - RDI_Pathfinder msg: 1607495429.76 epoch sec; seqNo:66 2020-12-09T06:30:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 72.28 , 97.08 , 83.71 , 0.00 2020-12-09T06:30:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.03 , 0.28 2020-12-09T06:30:29Z- waiting for 1607495431.52, time is 1607495429.76 2020-12-09T06:30:29Z- sync is 0.03, coherence is 2.00 2020-12-09T06:30:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495429.78 epoch sec; seqNo:125; 4061675.51 north; 594706.56 east 2020-12-09T06:30:29Z- waiting for 1607495431.52, time is 1607495429.76 2020-12-09T06:30:29Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:30Z- AHRS_M2 msg: 1607495430.13 epoch sec; seqNo:117 2020-12-09T06:30:30Z- AHRS_M2 msg: 4.49 phi; -0.01 theta; -0.21 psi 2020-12-09T06:30:30Z- waiting for 1607495431.52, time is 1607495429.76 2020-12-09T06:30:30Z- sync is 0.37, coherence is 2.00 2020-12-09T06:30:30Z- handleDepth()-Depth_Keller msg: 4.85 epoch sec; seqNo:1607495430135; depth 0.00 2020-12-09T06:30:30Z- waiting for 1607495431.52, time is 1607495429.76 2020-12-09T06:30:30Z- sync is 0.37, coherence is 2.00 2020-12-09T06:30:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495430.15 epoch sec; seqNo:126; 4061675.13 north; 594706.56 east 2020-12-09T06:30:30Z- waiting for 1607495431.52, time is 1607495429.76 2020-12-09T06:30:30Z- sync is 0.39, coherence is 2.00 2020-12-09T06:30:30Z- handleDepth()-Depth_Keller msg: 4.86 epoch sec; seqNo:1607495430554; depth 0.00 2020-12-09T06:30:30Z- waiting for 1607495431.52, time is 1607495429.76 2020-12-09T06:30:30Z- sync is 0.39, coherence is 2.00 2020-12-09T06:30:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495430.56 epoch sec; seqNo:127; 4061675.13 north; 594706.56 east 2020-12-09T06:30:30Z- waiting for 1607495431.52, time is 1607495429.76 2020-12-09T06:30:30Z- sync is 0.80, coherence is 2.00 2020-12-09T06:30:30Z- AHRS_M2 msg: 1607495430.94 epoch sec; seqNo:118 2020-12-09T06:30:30Z- AHRS_M2 msg: 4.50 phi; -0.00 theta; -0.19 psi 2020-12-09T06:30:30Z- waiting for 1607495431.52, time is 1607495429.76 2020-12-09T06:30:30Z- sync is 1.18, coherence is 2.00 2020-12-09T06:30:30Z- handleDepth()-Depth_Keller msg: 4.86 epoch sec; seqNo:1607495430950; depth 0.00 2020-12-09T06:30:30Z- waiting for 1607495431.52, time is 1607495429.76 2020-12-09T06:30:30Z- sync is 1.18, coherence is 2.00 2020-12-09T06:30:30Z- handleDvl() - RDI_Pathfinder msg: 1607495430.97 epoch sec; seqNo:67 2020-12-09T06:30:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 71.46 , 97.01 , 84.86 , 84.86 2020-12-09T06:30:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.07 , 0.23 2020-12-09T06:30:30Z- waiting for 1607495431.52, time is 1607495430.97 2020-12-09T06:30:30Z- sync is 0.03, coherence is 2.00 2020-12-09T06:30:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495430.98 epoch sec; seqNo:128; 4061675.11 north; 594705.34 east 2020-12-09T06:30:30Z- waiting for 1607495431.52, time is 1607495430.97 2020-12-09T06:30:30Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:31Z- AHRS_M2 msg: 1607495431.34 epoch sec; seqNo:119 2020-12-09T06:30:31Z- AHRS_M2 msg: 4.51 phi; -0.00 theta; -0.18 psi 2020-12-09T06:30:31Z- waiting for 1607495431.52, time is 1607495430.97 2020-12-09T06:30:31Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:31Z- handleDepth()-Depth_Keller msg: 4.87 epoch sec; seqNo:1607495431359; depth 0.00 2020-12-09T06:30:31Z- waiting for 1607495431.52, time is 1607495430.97 2020-12-09T06:30:31Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495431.37 epoch sec; seqNo:129; 4061675.11 north; 594705.34 east 2020-12-09T06:30:31Z- waiting for 1607495431.52, time is 1607495430.97 2020-12-09T06:30:31Z- sync is 0.41, coherence is 2.00 2020-12-09T06:30:31Z- AHRS_M2 msg: 1607495431.75 epoch sec; seqNo:120 2020-12-09T06:30:31Z- AHRS_M2 msg: 4.53 phi; -0.00 theta; -0.17 psi 2020-12-09T06:30:31Z- waiting for 1607495431.52, time is 1607495430.97 2020-12-09T06:30:31Z- sync is 0.79, coherence is 2.00 2020-12-09T06:30:31Z- handleDepth()-Depth_Keller msg: 4.88 epoch sec; seqNo:1607495431759; depth 0.00 2020-12-09T06:30:31Z- waiting for 1607495431.52, time is 1607495430.97 2020-12-09T06:30:31Z- sync is 0.79, coherence is 2.00 2020-12-09T06:30:31Z- handleDvl() - RDI_Pathfinder msg: 1607495431.79 epoch sec; seqNo:68 2020-12-09T06:30:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 70.23 , 97.01 , 84.86 , 86.07 2020-12-09T06:30:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , 0.03 , 0.07 2020-12-09T06:30:31Z- waiting for 1607495431.52, time is 1607495431.79 2020-12-09T06:30:31Z- sync is 0.04, coherence is 2.00 2020-12-09T06:30:31Z- LcmTrn::updateTrn() >>>> pose time 1607495431.75, meas time 1607495431.79 <<<< 2020-12-09T06:30:31Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495431.79 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:30:31Z- TerrainNav::motionUpdate() - currEstimate = (4061675, 594705.34, 4.88) 2020-12-09T06:30:31Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:30:31Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:30:31Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:30:31Z- TNavBF::mmse selected from filter -1 2020-12-09T06:30:31Z- variances([0], [2], and psi_berg) = 830.191105 833.224009 0.000000 2020-12-09T06:30:31Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:30:31Z- LcmTrn::cycle() - MLE : 4061631.61 594659.84 4.88 2020-12-09T06:30:31Z- LcmTrn::cycle() - MMSE : 4061675.11 594705.34 4.88 2020-12-09T06:30:31Z- LcmTrn::cycle() - COVAR: 830.19 833.22 26.07 0.00 2020-12-09T06:30:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495431.80 epoch sec; seqNo:130; 4061675.11 north; 594705.34 east 2020-12-09T06:30:31Z- waiting for 1607495434.79, time is 1607495431.79 2020-12-09T06:30:31Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:32Z- AHRS_M2 msg: 1607495432.15 epoch sec; seqNo:121 2020-12-09T06:30:32Z- AHRS_M2 msg: 4.54 phi; -0.00 theta; -0.17 psi 2020-12-09T06:30:32Z- waiting for 1607495434.79, time is 1607495431.79 2020-12-09T06:30:32Z- sync is 0.36, coherence is 2.00 2020-12-09T06:30:32Z- handleDepth()-Depth_Keller msg: 4.87 epoch sec; seqNo:1607495432155; depth 0.00 2020-12-09T06:30:32Z- waiting for 1607495434.79, time is 1607495431.79 2020-12-09T06:30:32Z- sync is 0.36, coherence is 2.00 2020-12-09T06:30:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495432.17 epoch sec; seqNo:131; 4061675.11 north; 594705.34 east 2020-12-09T06:30:32Z- waiting for 1607495434.79, time is 1607495431.79 2020-12-09T06:30:32Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:32Z- AHRS_M2 msg: 1607495432.55 epoch sec; seqNo:122 2020-12-09T06:30:32Z- AHRS_M2 msg: 4.56 phi; -0.00 theta; -0.15 psi 2020-12-09T06:30:32Z- waiting for 1607495434.79, time is 1607495431.79 2020-12-09T06:30:32Z- sync is 0.76, coherence is 2.00 2020-12-09T06:30:32Z- handleDepth()-Depth_Keller msg: 4.86 epoch sec; seqNo:1607495432566; depth 0.00 2020-12-09T06:30:32Z- waiting for 1607495434.79, time is 1607495431.79 2020-12-09T06:30:32Z- sync is 0.76, coherence is 2.00 2020-12-09T06:30:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495432.58 epoch sec; seqNo:132; 4061675.11 north; 594705.34 east 2020-12-09T06:30:32Z- waiting for 1607495434.79, time is 1607495431.79 2020-12-09T06:30:32Z- sync is 0.79, coherence is 2.00 2020-12-09T06:30:32Z- AHRS_M2 msg: 1607495432.96 epoch sec; seqNo:123 2020-12-09T06:30:32Z- AHRS_M2 msg: 4.57 phi; 0.01 theta; -0.14 psi 2020-12-09T06:30:32Z- waiting for 1607495434.79, time is 1607495431.79 2020-12-09T06:30:32Z- sync is 1.17, coherence is 2.00 2020-12-09T06:30:32Z- handleDepth()-Depth_Keller msg: 4.85 epoch sec; seqNo:1607495432970; depth 0.00 2020-12-09T06:30:32Z- waiting for 1607495434.79, time is 1607495431.79 2020-12-09T06:30:32Z- sync is 1.17, coherence is 2.00 2020-12-09T06:30:32Z- handleDvl() - RDI_Pathfinder msg: 1607495432.99 epoch sec; seqNo:69 2020-12-09T06:30:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 71.46 , 95.80 , 83.64 , 83.64 2020-12-09T06:30:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , 0.06 , -0.16 2020-12-09T06:30:32Z- waiting for 1607495434.79, time is 1607495432.99 2020-12-09T06:30:32Z- sync is 0.04, coherence is 2.00 2020-12-09T06:30:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495433.01 epoch sec; seqNo:133; 4061675.10 north; 594704.12 east 2020-12-09T06:30:33Z- waiting for 1607495434.79, time is 1607495432.99 2020-12-09T06:30:33Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:33Z- AHRS_M2 msg: 1607495433.36 epoch sec; seqNo:124 2020-12-09T06:30:33Z- AHRS_M2 msg: 4.59 phi; 0.01 theta; -0.12 psi 2020-12-09T06:30:33Z- waiting for 1607495434.79, time is 1607495432.99 2020-12-09T06:30:33Z- sync is 0.37, coherence is 2.00 2020-12-09T06:30:33Z- handleDepth()-Depth_Keller msg: 4.87 epoch sec; seqNo:1607495433366; depth 0.00 2020-12-09T06:30:33Z- waiting for 1607495434.79, time is 1607495432.99 2020-12-09T06:30:33Z- sync is 0.37, coherence is 2.00 2020-12-09T06:30:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495433.38 epoch sec; seqNo:134; 4061675.10 north; 594704.12 east 2020-12-09T06:30:33Z- waiting for 1607495434.79, time is 1607495432.99 2020-12-09T06:30:33Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:33Z- AHRS_M2 msg: 1607495433.77 epoch sec; seqNo:125 2020-12-09T06:30:33Z- AHRS_M2 msg: 4.59 phi; 0.02 theta; -0.11 psi 2020-12-09T06:30:33Z- waiting for 1607495434.79, time is 1607495432.99 2020-12-09T06:30:33Z- sync is 0.78, coherence is 2.00 2020-12-09T06:30:33Z- handleDepth()-Depth_Keller msg: 4.86 epoch sec; seqNo:1607495433780; depth 0.00 2020-12-09T06:30:33Z- waiting for 1607495434.79, time is 1607495432.99 2020-12-09T06:30:33Z- sync is 0.78, coherence is 2.00 2020-12-09T06:30:33Z- handleDvl() - RDI_Pathfinder msg: 1607495433.81 epoch sec; seqNo:70 2020-12-09T06:30:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 71.46 , 92.22 , 83.71 , 0.00 2020-12-09T06:30:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.19 , -0.09 2020-12-09T06:30:33Z- waiting for 1607495434.79, time is 1607495433.81 2020-12-09T06:30:33Z- sync is 0.03, coherence is 2.00 2020-12-09T06:30:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495433.83 epoch sec; seqNo:135; 4061675.10 north; 594704.12 east 2020-12-09T06:30:33Z- waiting for 1607495434.79, time is 1607495433.81 2020-12-09T06:30:33Z- sync is 0.03, coherence is 2.00 2020-12-09T06:30:34Z- AHRS_M2 msg: 1607495434.17 epoch sec; seqNo:126 2020-12-09T06:30:34Z- AHRS_M2 msg: 4.60 phi; 0.03 theta; -0.10 psi 2020-12-09T06:30:34Z- waiting for 1607495434.79, time is 1607495433.81 2020-12-09T06:30:34Z- sync is 0.36, coherence is 2.00 2020-12-09T06:30:34Z- handleDepth()-Depth_Keller msg: 4.84 epoch sec; seqNo:1607495434178; depth 0.00 2020-12-09T06:30:34Z- waiting for 1607495434.79, time is 1607495433.81 2020-12-09T06:30:34Z- sync is 0.36, coherence is 2.00 2020-12-09T06:30:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495434.21 epoch sec; seqNo:136; 4061675.09 north; 594702.90 east 2020-12-09T06:30:34Z- waiting for 1607495434.79, time is 1607495433.81 2020-12-09T06:30:34Z- sync is 0.40, coherence is 2.00 2020-12-09T06:30:34Z- AHRS_M2 msg: 1607495434.59 epoch sec; seqNo:127 2020-12-09T06:30:34Z- AHRS_M2 msg: 4.60 phi; 0.04 theta; -0.10 psi 2020-12-09T06:30:34Z- waiting for 1607495434.79, time is 1607495433.81 2020-12-09T06:30:34Z- sync is 0.78, coherence is 2.00 2020-12-09T06:30:34Z- handleDepth()-Depth_Keller msg: 4.83 epoch sec; seqNo:1607495434630; depth 0.00 2020-12-09T06:30:34Z- waiting for 1607495434.79, time is 1607495433.81 2020-12-09T06:30:34Z- sync is 0.78, coherence is 2.00 2020-12-09T06:30:34Z- handleDvl() - RDI_Pathfinder msg: 1607495434.64 epoch sec; seqNo:71 2020-12-09T06:30:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 71.46 , 89.86 , 83.78 , 0.00 2020-12-09T06:30:34Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.23 , 0.13 2020-12-09T06:30:34Z- waiting for 1607495434.79, time is 1607495434.64 2020-12-09T06:30:34Z- sync is 0.05, coherence is 2.00 2020-12-09T06:30:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495434.66 epoch sec; seqNo:137; 4061675.09 north; 594702.90 east 2020-12-09T06:30:34Z- waiting for 1607495434.79, time is 1607495434.64 2020-12-09T06:30:34Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:34Z- AHRS_M2 msg: 1607495434.99 epoch sec; seqNo:128 2020-12-09T06:30:34Z- AHRS_M2 msg: 4.59 phi; 0.04 theta; -0.11 psi 2020-12-09T06:30:34Z- waiting for 1607495434.79, time is 1607495434.64 2020-12-09T06:30:34Z- sync is 0.34, coherence is 2.00 2020-12-09T06:30:34Z- handleDepth()-Depth_Keller msg: 4.85 epoch sec; seqNo:1607495434990; depth 0.00 2020-12-09T06:30:34Z- waiting for 1607495434.79, time is 1607495434.64 2020-12-09T06:30:34Z- sync is 0.34, coherence is 2.00 2020-12-09T06:30:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495435.00 epoch sec; seqNo:138; 4061675.09 north; 594702.90 east 2020-12-09T06:30:35Z- waiting for 1607495434.79, time is 1607495434.64 2020-12-09T06:30:35Z- sync is 0.36, coherence is 2.00 2020-12-09T06:30:35Z- AHRS_M2 msg: 1607495435.38 epoch sec; seqNo:129 2020-12-09T06:30:35Z- AHRS_M2 msg: 4.58 phi; 0.04 theta; -0.12 psi 2020-12-09T06:30:35Z- waiting for 1607495434.79, time is 1607495434.64 2020-12-09T06:30:35Z- sync is 0.74, coherence is 2.00 2020-12-09T06:30:35Z- handleDepth()-Depth_Keller msg: 4.82 epoch sec; seqNo:1607495435396; depth 0.00 2020-12-09T06:30:35Z- waiting for 1607495434.79, time is 1607495434.64 2020-12-09T06:30:35Z- sync is 0.74, coherence is 2.00 2020-12-09T06:30:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495435.41 epoch sec; seqNo:139; 4061675.07 north; 594701.68 east 2020-12-09T06:30:35Z- waiting for 1607495434.79, time is 1607495434.64 2020-12-09T06:30:35Z- sync is 0.77, coherence is 2.00 2020-12-09T06:30:35Z- AHRS_M2 msg: 1607495435.79 epoch sec; seqNo:130 2020-12-09T06:30:35Z- AHRS_M2 msg: 4.58 phi; 0.04 theta; -0.13 psi 2020-12-09T06:30:35Z- waiting for 1607495434.79, time is 1607495434.64 2020-12-09T06:30:35Z- sync is 1.15, coherence is 2.00 2020-12-09T06:30:35Z- handleDepth()-Depth_Keller msg: 4.82 epoch sec; seqNo:1607495435801; depth 0.00 2020-12-09T06:30:35Z- waiting for 1607495434.79, time is 1607495434.64 2020-12-09T06:30:35Z- sync is 1.15, coherence is 2.00 2020-12-09T06:30:35Z- handleDvl() - RDI_Pathfinder msg: 1607495435.84 epoch sec; seqNo:72 2020-12-09T06:30:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 70.64 , 93.43 , 85.87 , 80.47 2020-12-09T06:30:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.16 , 0.27 2020-12-09T06:30:35Z- waiting for 1607495434.79, time is 1607495435.84 2020-12-09T06:30:35Z- sync is 0.05, coherence is 2.00 2020-12-09T06:30:35Z- LcmTrn::updateTrn() >>>> pose time 1607495435.79, meas time 1607495435.84 <<<< 2020-12-09T06:30:35Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495435.84 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:30:35Z- TerrainNav::motionUpdate() - currEstimate = (4061675, 594701.68, 4.82) 2020-12-09T06:30:35Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:30:35Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:30:35Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:30:35Z- TNavBF::mmse selected from filter -1 2020-12-09T06:30:35Z- variances([0], [2], and psi_berg) = 829.688032 833.220160 0.000000 2020-12-09T06:30:35Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:30:35Z- LcmTrn::cycle() - MLE : 4061632.57 594656.18 4.82 2020-12-09T06:30:35Z- LcmTrn::cycle() - MMSE : 4061675.07 594701.68 4.82 2020-12-09T06:30:35Z- LcmTrn::cycle() - COVAR: 829.69 833.22 26.25 0.00 2020-12-09T06:30:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495435.87 epoch sec; seqNo:140; 4061675.07 north; 594701.68 east 2020-12-09T06:30:35Z- waiting for 1607495438.84, time is 1607495435.84 2020-12-09T06:30:35Z- sync is 0.03, coherence is 2.00 2020-12-09T06:30:36Z- AHRS_M2 msg: 1607495436.20 epoch sec; seqNo:131 2020-12-09T06:30:36Z- AHRS_M2 msg: 4.57 phi; 0.05 theta; -0.15 psi 2020-12-09T06:30:36Z- waiting for 1607495438.84, time is 1607495435.84 2020-12-09T06:30:36Z- sync is 0.36, coherence is 2.00 2020-12-09T06:30:36Z- handleDepth()-Depth_Keller msg: 4.81 epoch sec; seqNo:1607495436205; depth 0.00 2020-12-09T06:30:36Z- waiting for 1607495438.84, time is 1607495435.84 2020-12-09T06:30:36Z- sync is 0.36, coherence is 2.00 2020-12-09T06:30:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495436.22 epoch sec; seqNo:141; 4061675.07 north; 594701.68 east 2020-12-09T06:30:36Z- waiting for 1607495438.84, time is 1607495435.84 2020-12-09T06:30:36Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:36Z- AHRS_M2 msg: 1607495436.60 epoch sec; seqNo:132 2020-12-09T06:30:36Z- AHRS_M2 msg: 4.57 phi; 0.05 theta; -0.16 psi 2020-12-09T06:30:36Z- waiting for 1607495438.84, time is 1607495435.84 2020-12-09T06:30:36Z- sync is 0.76, coherence is 2.00 2020-12-09T06:30:36Z- handleDepth()-Depth_Keller msg: 4.79 epoch sec; seqNo:1607495436605; depth 0.00 2020-12-09T06:30:36Z- waiting for 1607495438.84, time is 1607495435.84 2020-12-09T06:30:36Z- sync is 0.76, coherence is 2.00 2020-12-09T06:30:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495436.61 epoch sec; seqNo:142; 4061675.06 north; 594700.46 east 2020-12-09T06:30:36Z- waiting for 1607495438.84, time is 1607495435.84 2020-12-09T06:30:36Z- sync is 0.78, coherence is 2.00 2020-12-09T06:30:37Z- AHRS_M2 msg: 1607495437.00 epoch sec; seqNo:133 2020-12-09T06:30:37Z- AHRS_M2 msg: 4.57 phi; 0.06 theta; -0.16 psi 2020-12-09T06:30:37Z- waiting for 1607495438.84, time is 1607495435.84 2020-12-09T06:30:37Z- sync is 1.16, coherence is 2.00 2020-12-09T06:30:37Z- handleDepth()-Depth_Keller msg: 4.79 epoch sec; seqNo:1607495437018; depth 0.00 2020-12-09T06:30:37Z- waiting for 1607495438.84, time is 1607495435.84 2020-12-09T06:30:37Z- sync is 1.16, coherence is 2.00 2020-12-09T06:30:37Z- handleDvl() - RDI_Pathfinder msg: 1607495437.03 epoch sec; seqNo:73 2020-12-09T06:30:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 70.23 , 95.93 , 86.21 , 82.56 2020-12-09T06:30:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.11 , 0.35 2020-12-09T06:30:37Z- waiting for 1607495438.84, time is 1607495437.03 2020-12-09T06:30:37Z- sync is 0.03, coherence is 2.00 2020-12-09T06:30:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495437.04 epoch sec; seqNo:143; 4061675.06 north; 594700.46 east 2020-12-09T06:30:37Z- waiting for 1607495438.84, time is 1607495437.03 2020-12-09T06:30:37Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:37Z- AHRS_M2 msg: 1607495437.43 epoch sec; seqNo:134 2020-12-09T06:30:37Z- AHRS_M2 msg: 4.57 phi; 0.05 theta; -0.17 psi 2020-12-09T06:30:37Z- waiting for 1607495438.84, time is 1607495437.03 2020-12-09T06:30:37Z- sync is 0.40, coherence is 2.00 2020-12-09T06:30:37Z- handleDepth()-Depth_Keller msg: 4.77 epoch sec; seqNo:1607495437438; depth 0.00 2020-12-09T06:30:37Z- waiting for 1607495438.84, time is 1607495437.03 2020-12-09T06:30:37Z- sync is 0.40, coherence is 2.00 2020-12-09T06:30:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495437.45 epoch sec; seqNo:144; 4061675.06 north; 594700.46 east 2020-12-09T06:30:37Z- waiting for 1607495438.84, time is 1607495437.03 2020-12-09T06:30:37Z- sync is 0.42, coherence is 2.00 2020-12-09T06:30:37Z- handleDepth()-Depth_Keller msg: 4.75 epoch sec; seqNo:1607495437834; depth 0.00 2020-12-09T06:30:37Z- waiting for 1607495438.84, time is 1607495437.03 2020-12-09T06:30:37Z- sync is 0.42, coherence is 2.00 2020-12-09T06:30:37Z- handleDvl() - RDI_Pathfinder msg: 1607495437.86 epoch sec; seqNo:74 2020-12-09T06:30:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 69.82 , 98.29 , 0.00 , 82.50 2020-12-09T06:30:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.70 , -0.07 , 0.24 2020-12-09T06:30:37Z- waiting for 1607495438.84, time is 1607495437.86 2020-12-09T06:30:37Z- sync is 0.41, coherence is 2.00 2020-12-09T06:30:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495437.88 epoch sec; seqNo:145; 4061675.05 north; 594699.24 east 2020-12-09T06:30:37Z- waiting for 1607495438.84, time is 1607495437.86 2020-12-09T06:30:37Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:38Z- AHRS_M2 msg: 1607495438.22 epoch sec; seqNo:135 2020-12-09T06:30:38Z- AHRS_M2 msg: 4.57 phi; 0.04 theta; -0.19 psi 2020-12-09T06:30:38Z- waiting for 1607495438.84, time is 1607495437.86 2020-12-09T06:30:38Z- sync is 0.35, coherence is 2.00 2020-12-09T06:30:38Z- handleDepth()-Depth_Keller msg: 4.73 epoch sec; seqNo:1607495438224; depth 0.00 2020-12-09T06:30:38Z- waiting for 1607495438.84, time is 1607495437.86 2020-12-09T06:30:38Z- sync is 0.35, coherence is 2.00 2020-12-09T06:30:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495438.24 epoch sec; seqNo:146; 4061675.05 north; 594699.24 east 2020-12-09T06:30:38Z- waiting for 1607495438.84, time is 1607495437.86 2020-12-09T06:30:38Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:38Z- AHRS_M2 msg: 1607495438.62 epoch sec; seqNo:136 2020-12-09T06:30:38Z- AHRS_M2 msg: 4.58 phi; 0.02 theta; -0.19 psi 2020-12-09T06:30:38Z- waiting for 1607495438.84, time is 1607495437.86 2020-12-09T06:30:38Z- sync is 0.75, coherence is 2.00 2020-12-09T06:30:38Z- handleDepth()-Depth_Keller msg: 4.71 epoch sec; seqNo:1607495438627; depth 0.00 2020-12-09T06:30:38Z- waiting for 1607495438.84, time is 1607495437.86 2020-12-09T06:30:38Z- sync is 0.75, coherence is 2.00 2020-12-09T06:30:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495438.64 epoch sec; seqNo:147; 4061675.05 north; 594699.24 east 2020-12-09T06:30:38Z- waiting for 1607495438.84, time is 1607495437.86 2020-12-09T06:30:38Z- sync is 0.78, coherence is 2.00 2020-12-09T06:30:39Z- AHRS_M2 msg: 1607495439.02 epoch sec; seqNo:137 2020-12-09T06:30:39Z- AHRS_M2 msg: 4.60 phi; 0.02 theta; -0.20 psi 2020-12-09T06:30:39Z- waiting for 1607495438.84, time is 1607495437.86 2020-12-09T06:30:39Z- sync is 1.16, coherence is 2.00 2020-12-09T06:30:39Z- handleDepth()-Depth_Keller msg: 4.69 epoch sec; seqNo:1607495439026; depth 0.00 2020-12-09T06:30:39Z- waiting for 1607495438.84, time is 1607495437.86 2020-12-09T06:30:39Z- sync is 1.16, coherence is 2.00 2020-12-09T06:30:39Z- handleDvl() - RDI_Pathfinder msg: 1607495439.04 epoch sec; seqNo:75 2020-12-09T06:30:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 71.05 , 98.29 , 88.57 , 83.71 2020-12-09T06:30:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.58 , -0.20 , -0.10 2020-12-09T06:30:39Z- waiting for 1607495438.84, time is 1607495439.04 2020-12-09T06:30:39Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:39Z- LcmTrn::updateTrn() >>>> pose time 1607495439.02, meas time 1607495439.04 <<<< 2020-12-09T06:30:39Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495439.04 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:30:39Z- TerrainNav::motionUpdate() - currEstimate = (4061675, 594699.24, 4.69) 2020-12-09T06:30:39Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:30:39Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:30:39Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:30:39Z- TNavBF::mmse selected from filter -1 2020-12-09T06:30:39Z- variances([0], [2], and psi_berg) = 829.283878 833.217156 0.000000 2020-12-09T06:30:39Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:30:39Z- LcmTrn::cycle() - MLE : 4061633.55 594651.74 4.69 2020-12-09T06:30:39Z- LcmTrn::cycle() - MMSE : 4061675.05 594699.24 4.69 2020-12-09T06:30:39Z- LcmTrn::cycle() - COVAR: 829.28 833.22 26.38 0.00 2020-12-09T06:30:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495439.07 epoch sec; seqNo:148; 4061675.05 north; 594699.24 east 2020-12-09T06:30:39Z- waiting for 1607495442.04, time is 1607495439.04 2020-12-09T06:30:39Z- sync is 0.03, coherence is 2.00 2020-12-09T06:30:39Z- AHRS_M2 msg: 1607495439.43 epoch sec; seqNo:138 2020-12-09T06:30:39Z- AHRS_M2 msg: 4.61 phi; 0.02 theta; -0.21 psi 2020-12-09T06:30:39Z- waiting for 1607495442.04, time is 1607495439.04 2020-12-09T06:30:39Z- sync is 0.39, coherence is 2.00 2020-12-09T06:30:39Z- handleDepth()-Depth_Keller msg: 4.65 epoch sec; seqNo:1607495439430; depth 0.00 2020-12-09T06:30:39Z- waiting for 1607495442.04, time is 1607495439.04 2020-12-09T06:30:39Z- sync is 0.39, coherence is 2.00 2020-12-09T06:30:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495439.44 epoch sec; seqNo:149; 4061674.67 north; 594699.25 east 2020-12-09T06:30:39Z- waiting for 1607495442.04, time is 1607495439.04 2020-12-09T06:30:39Z- sync is 0.40, coherence is 2.00 2020-12-09T06:30:39Z- AHRS_M2 msg: 1607495439.84 epoch sec; seqNo:139 2020-12-09T06:30:39Z- AHRS_M2 msg: 4.62 phi; 0.02 theta; -0.20 psi 2020-12-09T06:30:39Z- waiting for 1607495442.04, time is 1607495439.04 2020-12-09T06:30:39Z- sync is 0.80, coherence is 2.00 2020-12-09T06:30:39Z- handleDepth()-Depth_Keller msg: 4.61 epoch sec; seqNo:1607495439843; depth 0.00 2020-12-09T06:30:39Z- waiting for 1607495442.04, time is 1607495439.04 2020-12-09T06:30:39Z- sync is 0.80, coherence is 2.00 2020-12-09T06:30:39Z- handleDvl() - RDI_Pathfinder msg: 1607495439.86 epoch sec; seqNo:76 2020-12-09T06:30:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 69.82 , 98.09 , 85.94 , 85.94 2020-12-09T06:30:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.14 , -0.27 2020-12-09T06:30:39Z- waiting for 1607495442.04, time is 1607495439.86 2020-12-09T06:30:39Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495439.87 epoch sec; seqNo:150; 4061674.66 north; 594698.03 east 2020-12-09T06:30:39Z- waiting for 1607495442.04, time is 1607495439.86 2020-12-09T06:30:39Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:40Z- AHRS_M2 msg: 1607495440.23 epoch sec; seqNo:140 2020-12-09T06:30:40Z- AHRS_M2 msg: 4.63 phi; 0.03 theta; -0.19 psi 2020-12-09T06:30:40Z- waiting for 1607495442.04, time is 1607495439.86 2020-12-09T06:30:40Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:40Z- handleDepth()-Depth_Keller msg: 4.58 epoch sec; seqNo:1607495440238; depth 0.00 2020-12-09T06:30:40Z- waiting for 1607495442.04, time is 1607495439.86 2020-12-09T06:30:40Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495440.26 epoch sec; seqNo:151; 4061674.66 north; 594698.03 east 2020-12-09T06:30:40Z- waiting for 1607495442.04, time is 1607495439.86 2020-12-09T06:30:40Z- sync is 0.40, coherence is 2.00 2020-12-09T06:30:40Z- AHRS_M2 msg: 1607495440.64 epoch sec; seqNo:141 2020-12-09T06:30:40Z- AHRS_M2 msg: 4.64 phi; 0.03 theta; -0.17 psi 2020-12-09T06:30:40Z- waiting for 1607495442.04, time is 1607495439.86 2020-12-09T06:30:40Z- sync is 0.79, coherence is 2.00 2020-12-09T06:30:40Z- handleDepth()-Depth_Keller msg: 4.57 epoch sec; seqNo:1607495440655; depth 0.00 2020-12-09T06:30:40Z- waiting for 1607495442.04, time is 1607495439.86 2020-12-09T06:30:40Z- sync is 0.79, coherence is 2.00 2020-12-09T06:30:40Z- handleDvl() - RDI_Pathfinder msg: 1607495440.70 epoch sec; seqNo:77 2020-12-09T06:30:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 70.64 , 96.94 , 86.01 , 83.57 2020-12-09T06:30:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.05 , -0.17 2020-12-09T06:30:40Z- waiting for 1607495442.04, time is 1607495440.70 2020-12-09T06:30:40Z- sync is 0.06, coherence is 2.00 2020-12-09T06:30:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495440.71 epoch sec; seqNo:152; 4061674.66 north; 594698.03 east 2020-12-09T06:30:40Z- waiting for 1607495442.04, time is 1607495440.70 2020-12-09T06:30:40Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:41Z- AHRS_M2 msg: 1607495441.04 epoch sec; seqNo:142 2020-12-09T06:30:41Z- AHRS_M2 msg: 4.64 phi; 0.04 theta; -0.16 psi 2020-12-09T06:30:41Z- waiting for 1607495442.04, time is 1607495440.70 2020-12-09T06:30:41Z- sync is 0.35, coherence is 2.00 2020-12-09T06:30:41Z- handleDepth()-Depth_Keller msg: 4.55 epoch sec; seqNo:1607495441048; depth 0.00 2020-12-09T06:30:41Z- waiting for 1607495442.04, time is 1607495440.70 2020-12-09T06:30:41Z- sync is 0.35, coherence is 2.00 2020-12-09T06:30:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495441.06 epoch sec; seqNo:153; 4061674.28 north; 594698.03 east 2020-12-09T06:30:41Z- waiting for 1607495442.04, time is 1607495440.70 2020-12-09T06:30:41Z- sync is 0.37, coherence is 2.00 2020-12-09T06:30:41Z- AHRS_M2 msg: 1607495441.45 epoch sec; seqNo:143 2020-12-09T06:30:41Z- AHRS_M2 msg: 4.64 phi; 0.04 theta; -0.16 psi 2020-12-09T06:30:41Z- waiting for 1607495442.04, time is 1607495440.70 2020-12-09T06:30:41Z- sync is 0.75, coherence is 2.00 2020-12-09T06:30:41Z- handleDepth()-Depth_Keller msg: 4.53 epoch sec; seqNo:1607495441460; depth 0.00 2020-12-09T06:30:41Z- waiting for 1607495442.04, time is 1607495440.70 2020-12-09T06:30:41Z- sync is 0.75, coherence is 2.00 2020-12-09T06:30:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495441.47 epoch sec; seqNo:154; 4061674.26 north; 594696.81 east 2020-12-09T06:30:41Z- waiting for 1607495442.04, time is 1607495440.70 2020-12-09T06:30:41Z- sync is 0.77, coherence is 2.00 2020-12-09T06:30:41Z- AHRS_M2 msg: 1607495441.85 epoch sec; seqNo:144 2020-12-09T06:30:41Z- AHRS_M2 msg: 4.64 phi; 0.04 theta; -0.16 psi 2020-12-09T06:30:41Z- waiting for 1607495442.04, time is 1607495440.70 2020-12-09T06:30:41Z- sync is 1.16, coherence is 2.00 2020-12-09T06:30:41Z- handleDepth()-Depth_Keller msg: 4.53 epoch sec; seqNo:1607495441856; depth 0.00 2020-12-09T06:30:41Z- waiting for 1607495442.04, time is 1607495440.70 2020-12-09T06:30:41Z- sync is 1.16, coherence is 2.00 2020-12-09T06:30:41Z- handleDvl() - RDI_Pathfinder msg: 1607495441.88 epoch sec; seqNo:78 2020-12-09T06:30:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:30:41Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2020-12-09T06:30:41Z- waiting for 1607495442.04, time is 1607495441.88 2020-12-09T06:30:41Z- sync is 0.03, coherence is 2.00 2020-12-09T06:30:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495441.89 epoch sec; seqNo:155; 4061674.26 north; 594696.81 east 2020-12-09T06:30:41Z- waiting for 1607495442.04, time is 1607495441.88 2020-12-09T06:30:41Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:42Z- AHRS_M2 msg: 1607495442.33 epoch sec; seqNo:145 2020-12-09T06:30:42Z- AHRS_M2 msg: 4.64 phi; 0.03 theta; -0.18 psi 2020-12-09T06:30:42Z- waiting for 1607495442.04, time is 1607495441.88 2020-12-09T06:30:42Z- sync is 0.45, coherence is 2.00 2020-12-09T06:30:42Z- handleDepth()-Depth_Keller msg: 4.49 epoch sec; seqNo:1607495442332; depth 0.00 2020-12-09T06:30:42Z- waiting for 1607495442.04, time is 1607495441.88 2020-12-09T06:30:42Z- sync is 0.45, coherence is 2.00 2020-12-09T06:30:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495442.36 epoch sec; seqNo:156; 4061674.26 north; 594696.81 east 2020-12-09T06:30:42Z- waiting for 1607495442.04, time is 1607495441.88 2020-12-09T06:30:42Z- sync is 0.48, coherence is 2.00 2020-12-09T06:30:42Z- AHRS_M2 msg: 1607495442.73 epoch sec; seqNo:146 2020-12-09T06:30:42Z- AHRS_M2 msg: 4.65 phi; 0.02 theta; -0.19 psi 2020-12-09T06:30:42Z- waiting for 1607495442.04, time is 1607495441.88 2020-12-09T06:30:42Z- sync is 0.85, coherence is 2.00 2020-12-09T06:30:42Z- handleDepth()-Depth_Keller msg: 4.48 epoch sec; seqNo:1607495442734; depth 0.00 2020-12-09T06:30:42Z- waiting for 1607495442.04, time is 1607495441.88 2020-12-09T06:30:42Z- sync is 0.85, coherence is 2.00 2020-12-09T06:30:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495442.75 epoch sec; seqNo:157; 4061674.25 north; 594695.59 east 2020-12-09T06:30:42Z- waiting for 1607495442.04, time is 1607495441.88 2020-12-09T06:30:42Z- sync is 0.87, coherence is 2.00 2020-12-09T06:30:43Z- AHRS_M2 msg: 1607495443.13 epoch sec; seqNo:147 2020-12-09T06:30:43Z- AHRS_M2 msg: 4.65 phi; 0.03 theta; -0.20 psi 2020-12-09T06:30:43Z- waiting for 1607495442.04, time is 1607495441.88 2020-12-09T06:30:43Z- sync is 1.25, coherence is 2.00 2020-12-09T06:30:43Z- handleDepth()-Depth_Keller msg: 4.44 epoch sec; seqNo:1607495443140; depth 0.00 2020-12-09T06:30:43Z- waiting for 1607495442.04, time is 1607495441.88 2020-12-09T06:30:43Z- sync is 1.25, coherence is 2.00 2020-12-09T06:30:43Z- handleDvl() - RDI_Pathfinder msg: 1607495443.16 epoch sec; seqNo:79 2020-12-09T06:30:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 69.42 , 96.14 , 85.74 , 82.76 2020-12-09T06:30:43Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.02 , -0.22 2020-12-09T06:30:43Z- waiting for 1607495442.04, time is 1607495443.16 2020-12-09T06:30:43Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:43Z- LcmTrn::updateTrn() >>>> pose time 1607495443.13, meas time 1607495443.16 <<<< 2020-12-09T06:30:43Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495443.16 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:30:43Z- TerrainNav::motionUpdate() - currEstimate = (4061674, 594695.59, 4.44) 2020-12-09T06:30:43Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:30:43Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:30:43Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:30:43Z- TNavBF::mmse selected from filter -1 2020-12-09T06:30:43Z- variances([0], [2], and psi_berg) = 828.790080 833.213569 0.000000 2020-12-09T06:30:43Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:30:43Z- LcmTrn::cycle() - MLE : 4061633.75 594646.09 4.44 2020-12-09T06:30:43Z- LcmTrn::cycle() - MMSE : 4061674.25 594695.59 4.44 2020-12-09T06:30:43Z- LcmTrn::cycle() - COVAR: 828.79 833.21 26.57 0.00 2020-12-09T06:30:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495443.17 epoch sec; seqNo:158; 4061674.25 north; 594695.59 east 2020-12-09T06:30:43Z- waiting for 1607495446.16, time is 1607495443.16 2020-12-09T06:30:43Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:43Z- AHRS_M2 msg: 1607495443.54 epoch sec; seqNo:148 2020-12-09T06:30:43Z- AHRS_M2 msg: 4.66 phi; 0.03 theta; -0.21 psi 2020-12-09T06:30:43Z- waiting for 1607495446.16, time is 1607495443.16 2020-12-09T06:30:43Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:43Z- handleDepth()-Depth_Keller msg: 4.43 epoch sec; seqNo:1607495443542; depth 0.00 2020-12-09T06:30:43Z- waiting for 1607495446.16, time is 1607495443.16 2020-12-09T06:30:43Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495443.57 epoch sec; seqNo:159; 4061674.25 north; 594695.59 east 2020-12-09T06:30:43Z- waiting for 1607495446.16, time is 1607495443.16 2020-12-09T06:30:43Z- sync is 0.41, coherence is 2.00 2020-12-09T06:30:43Z- AHRS_M2 msg: 1607495443.97 epoch sec; seqNo:149 2020-12-09T06:30:43Z- AHRS_M2 msg: 4.66 phi; 0.03 theta; -0.22 psi 2020-12-09T06:30:43Z- waiting for 1607495446.16, time is 1607495443.16 2020-12-09T06:30:43Z- sync is 0.81, coherence is 2.00 2020-12-09T06:30:43Z- handleDepth()-Depth_Keller msg: 4.41 epoch sec; seqNo:1607495443994; depth 0.00 2020-12-09T06:30:43Z- waiting for 1607495446.16, time is 1607495443.16 2020-12-09T06:30:43Z- sync is 0.81, coherence is 2.00 2020-12-09T06:30:44Z- handleDvl() - RDI_Pathfinder msg: 1607495444.01 epoch sec; seqNo:80 2020-12-09T06:30:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.38 , 97.08 , 0.00 , 84.93 2020-12-09T06:30:44Z- handleDvl() - RDI_Pathfinder msg: velocities 1.14 , 0.05 , -0.40 2020-12-09T06:30:44Z- waiting for 1607495446.16, time is 1607495444.01 2020-12-09T06:30:44Z- sync is 0.04, coherence is 2.00 2020-12-09T06:30:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495444.02 epoch sec; seqNo:160; 4061674.24 north; 594694.37 east 2020-12-09T06:30:44Z- waiting for 1607495446.16, time is 1607495444.01 2020-12-09T06:30:44Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:44Z- AHRS_M2 msg: 1607495444.35 epoch sec; seqNo:150 2020-12-09T06:30:44Z- AHRS_M2 msg: 4.67 phi; 0.03 theta; -0.22 psi 2020-12-09T06:30:44Z- waiting for 1607495446.16, time is 1607495444.01 2020-12-09T06:30:44Z- sync is 0.34, coherence is 2.00 2020-12-09T06:30:44Z- handleDepth()-Depth_Keller msg: 4.38 epoch sec; seqNo:1607495444351; depth 0.00 2020-12-09T06:30:44Z- waiting for 1607495446.16, time is 1607495444.01 2020-12-09T06:30:44Z- sync is 0.34, coherence is 2.00 2020-12-09T06:30:44Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:30:44Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:30:44Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:30:44Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:30:44Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:30:44Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:30:44Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:30:44Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:30:44Z- handleDvl() - RDI_Pathfinder msg: 1607495444.35 epoch sec; seqNo:81 2020-12-09T06:30:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:30:44Z- handleDvl() - RDI_Pathfinder msg: velocities 1.14 , 0.05 , -0.40 2020-12-09T06:30:44Z- waiting for 1607495446.16, time is 1607495444.35 2020-12-09T06:30:44Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495444.37 epoch sec; seqNo:161; 4061673.86 north; 594694.37 east 2020-12-09T06:30:44Z- waiting for 1607495446.16, time is 1607495444.35 2020-12-09T06:30:44Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:44Z- AHRS_M2 msg: 1607495444.75 epoch sec; seqNo:151 2020-12-09T06:30:44Z- AHRS_M2 msg: 4.67 phi; 0.03 theta; -0.21 psi 2020-12-09T06:30:44Z- waiting for 1607495446.16, time is 1607495444.35 2020-12-09T06:30:44Z- sync is 0.40, coherence is 2.00 2020-12-09T06:30:44Z- handleDepth()-Depth_Keller msg: 4.36 epoch sec; seqNo:1607495444758; depth 0.00 2020-12-09T06:30:44Z- waiting for 1607495446.16, time is 1607495444.35 2020-12-09T06:30:44Z- sync is 0.40, coherence is 2.00 2020-12-09T06:30:44Z- handleDvl() - RDI_Pathfinder msg: 1607495444.77 epoch sec; seqNo:82 2020-12-09T06:30:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.60 , 97.08 , 84.93 , 83.71 2020-12-09T06:30:44Z- handleDvl() - RDI_Pathfinder msg: velocities 1.24 , 0.17 , -0.32 2020-12-09T06:30:44Z- waiting for 1607495446.16, time is 1607495444.77 2020-12-09T06:30:44Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495444.79 epoch sec; seqNo:162; 4061674.22 north; 594693.15 east 2020-12-09T06:30:44Z- waiting for 1607495446.16, time is 1607495444.77 2020-12-09T06:30:44Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:45Z- AHRS_M2 msg: 1607495445.15 epoch sec; seqNo:152 2020-12-09T06:30:45Z- AHRS_M2 msg: 4.67 phi; 0.03 theta; -0.20 psi 2020-12-09T06:30:45Z- waiting for 1607495446.16, time is 1607495444.77 2020-12-09T06:30:45Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:45Z- handleDepth()-Depth_Keller msg: 4.35 epoch sec; seqNo:1607495445172; depth 0.00 2020-12-09T06:30:45Z- waiting for 1607495446.16, time is 1607495444.77 2020-12-09T06:30:45Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495445.19 epoch sec; seqNo:163; 4061674.22 north; 594693.15 east 2020-12-09T06:30:45Z- waiting for 1607495446.16, time is 1607495444.77 2020-12-09T06:30:45Z- sync is 0.42, coherence is 2.00 2020-12-09T06:30:45Z- AHRS_M2 msg: 1607495445.56 epoch sec; seqNo:153 2020-12-09T06:30:45Z- AHRS_M2 msg: 4.67 phi; 0.03 theta; -0.19 psi 2020-12-09T06:30:45Z- waiting for 1607495446.16, time is 1607495444.77 2020-12-09T06:30:45Z- sync is 0.79, coherence is 2.00 2020-12-09T06:30:45Z- handleDepth()-Depth_Keller msg: 4.36 epoch sec; seqNo:1607495445566; depth 0.00 2020-12-09T06:30:45Z- waiting for 1607495446.16, time is 1607495444.77 2020-12-09T06:30:45Z- sync is 0.79, coherence is 2.00 2020-12-09T06:30:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495445.60 epoch sec; seqNo:164; 4061674.22 north; 594693.15 east 2020-12-09T06:30:45Z- waiting for 1607495446.16, time is 1607495444.77 2020-12-09T06:30:45Z- sync is 0.83, coherence is 2.00 2020-12-09T06:30:45Z- AHRS_M2 msg: 1607495445.96 epoch sec; seqNo:154 2020-12-09T06:30:45Z- AHRS_M2 msg: 4.66 phi; 0.03 theta; -0.18 psi 2020-12-09T06:30:45Z- waiting for 1607495446.16, time is 1607495444.77 2020-12-09T06:30:45Z- sync is 1.19, coherence is 2.00 2020-12-09T06:30:45Z- handleDepth()-Depth_Keller msg: 4.34 epoch sec; seqNo:1607495445975; depth 0.00 2020-12-09T06:30:45Z- waiting for 1607495446.16, time is 1607495444.77 2020-12-09T06:30:45Z- sync is 1.19, coherence is 2.00 2020-12-09T06:30:46Z- handleDvl() - RDI_Pathfinder msg: 1607495446.00 epoch sec; seqNo:83 2020-12-09T06:30:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.38 , 95.86 , 84.93 , 83.71 2020-12-09T06:30:46Z- handleDvl() - RDI_Pathfinder msg: velocities 1.24 , 0.28 , 0.04 2020-12-09T06:30:46Z- waiting for 1607495446.16, time is 1607495446.00 2020-12-09T06:30:46Z- sync is 0.04, coherence is 2.00 2020-12-09T06:30:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495446.02 epoch sec; seqNo:165; 4061674.21 north; 594691.93 east 2020-12-09T06:30:46Z- waiting for 1607495446.16, time is 1607495446.00 2020-12-09T06:30:46Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:46Z- AHRS_M2 msg: 1607495446.37 epoch sec; seqNo:155 2020-12-09T06:30:46Z- AHRS_M2 msg: 4.65 phi; 0.02 theta; -0.18 psi 2020-12-09T06:30:46Z- waiting for 1607495446.16, time is 1607495446.00 2020-12-09T06:30:46Z- sync is 0.37, coherence is 2.00 2020-12-09T06:30:46Z- handleDepth()-Depth_Keller msg: 4.34 epoch sec; seqNo:1607495446373; depth 0.00 2020-12-09T06:30:46Z- waiting for 1607495446.16, time is 1607495446.00 2020-12-09T06:30:46Z- sync is 0.37, coherence is 2.00 2020-12-09T06:30:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495446.38 epoch sec; seqNo:166; 4061674.21 north; 594691.93 east 2020-12-09T06:30:46Z- waiting for 1607495446.16, time is 1607495446.00 2020-12-09T06:30:46Z- sync is 0.39, coherence is 2.00 2020-12-09T06:30:46Z- AHRS_M2 msg: 1607495446.77 epoch sec; seqNo:156 2020-12-09T06:30:46Z- AHRS_M2 msg: 4.64 phi; 0.01 theta; -0.19 psi 2020-12-09T06:30:46Z- waiting for 1607495446.16, time is 1607495446.00 2020-12-09T06:30:46Z- sync is 0.77, coherence is 2.00 2020-12-09T06:30:46Z- handleDepth()-Depth_Keller msg: 4.33 epoch sec; seqNo:1607495446774; depth 0.00 2020-12-09T06:30:46Z- waiting for 1607495446.16, time is 1607495446.00 2020-12-09T06:30:46Z- sync is 0.77, coherence is 2.00 2020-12-09T06:30:46Z- handleDvl() - RDI_Pathfinder msg: 1607495446.79 epoch sec; seqNo:84 2020-12-09T06:30:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 69.42 , 98.36 , 0.00 , 83.78 2020-12-09T06:30:46Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , 0.28 , 0.40 2020-12-09T06:30:46Z- waiting for 1607495446.16, time is 1607495446.79 2020-12-09T06:30:46Z- sync is 0.03, coherence is 2.00 2020-12-09T06:30:46Z- LcmTrn::updateTrn() >>>> pose time 1607495446.77, meas time 1607495446.79 <<<< 2020-12-09T06:30:46Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495446.79 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:30:46Z- TerrainNav::motionUpdate() - currEstimate = (4061674, 594691.93, 4.33) 2020-12-09T06:30:46Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:30:46Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:30:46Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:30:46Z- TNavBF::mmse selected from filter -1 2020-12-09T06:30:46Z- variances([0], [2], and psi_berg) = 828.309110 833.210172 0.000000 2020-12-09T06:30:46Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:30:46Z- LcmTrn::cycle() - MLE : 4061633.71 594643.43 4.33 2020-12-09T06:30:46Z- LcmTrn::cycle() - MMSE : 4061674.21 594691.93 4.33 2020-12-09T06:30:46Z- LcmTrn::cycle() - COVAR: 828.31 833.21 26.76 0.00 2020-12-09T06:30:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495446.81 epoch sec; seqNo:167; 4061674.20 north; 594690.71 east 2020-12-09T06:30:46Z- waiting for 1607495449.79, time is 1607495446.79 2020-12-09T06:30:46Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:47Z- AHRS_M2 msg: 1607495447.17 epoch sec; seqNo:157 2020-12-09T06:30:47Z- AHRS_M2 msg: 4.63 phi; 0.01 theta; -0.20 psi 2020-12-09T06:30:47Z- waiting for 1607495449.79, time is 1607495446.79 2020-12-09T06:30:47Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:47Z- handleDepth()-Depth_Keller msg: 4.34 epoch sec; seqNo:1607495447178; depth 0.00 2020-12-09T06:30:47Z- waiting for 1607495449.79, time is 1607495446.79 2020-12-09T06:30:47Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495447.21 epoch sec; seqNo:168; 4061674.57 north; 594690.70 east 2020-12-09T06:30:47Z- waiting for 1607495449.79, time is 1607495446.79 2020-12-09T06:30:47Z- sync is 0.42, coherence is 2.00 2020-12-09T06:30:47Z- AHRS_M2 msg: 1607495447.58 epoch sec; seqNo:158 2020-12-09T06:30:47Z- AHRS_M2 msg: 4.62 phi; 0.00 theta; -0.21 psi 2020-12-09T06:30:47Z- waiting for 1607495449.79, time is 1607495446.79 2020-12-09T06:30:47Z- sync is 0.78, coherence is 2.00 2020-12-09T06:30:47Z- handleDepth()-Depth_Keller msg: 4.33 epoch sec; seqNo:1607495447590; depth 0.00 2020-12-09T06:30:47Z- waiting for 1607495449.79, time is 1607495446.79 2020-12-09T06:30:47Z- sync is 0.78, coherence is 2.00 2020-12-09T06:30:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495447.60 epoch sec; seqNo:169; 4061674.57 north; 594690.70 east 2020-12-09T06:30:47Z- waiting for 1607495449.79, time is 1607495446.79 2020-12-09T06:30:47Z- sync is 0.81, coherence is 2.00 2020-12-09T06:30:47Z- AHRS_M2 msg: 1607495447.98 epoch sec; seqNo:159 2020-12-09T06:30:47Z- AHRS_M2 msg: 4.62 phi; -0.01 theta; -0.23 psi 2020-12-09T06:30:47Z- waiting for 1607495449.79, time is 1607495446.79 2020-12-09T06:30:47Z- sync is 1.19, coherence is 2.00 2020-12-09T06:30:47Z- handleDepth()-Depth_Keller msg: 4.33 epoch sec; seqNo:1607495447987; depth 0.00 2020-12-09T06:30:47Z- waiting for 1607495449.79, time is 1607495446.79 2020-12-09T06:30:47Z- sync is 1.19, coherence is 2.00 2020-12-09T06:30:48Z- handleDvl() - RDI_Pathfinder msg: 1607495448.00 epoch sec; seqNo:85 2020-12-09T06:30:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 69.01 , 97.01 , 86.07 , 84.86 2020-12-09T06:30:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.25 , 0.46 2020-12-09T06:30:48Z- waiting for 1607495449.79, time is 1607495448.00 2020-12-09T06:30:48Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495448.02 epoch sec; seqNo:170; 4061674.56 north; 594689.48 east 2020-12-09T06:30:48Z- waiting for 1607495449.79, time is 1607495448.00 2020-12-09T06:30:48Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:48Z- AHRS_M2 msg: 1607495448.38 epoch sec; seqNo:160 2020-12-09T06:30:48Z- AHRS_M2 msg: 4.62 phi; -0.02 theta; -0.24 psi 2020-12-09T06:30:48Z- waiting for 1607495449.79, time is 1607495448.00 2020-12-09T06:30:48Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:48Z- handleDepth()-Depth_Keller msg: 4.33 epoch sec; seqNo:1607495448399; depth 0.00 2020-12-09T06:30:48Z- waiting for 1607495449.79, time is 1607495448.00 2020-12-09T06:30:48Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495448.42 epoch sec; seqNo:171; 4061674.94 north; 594689.48 east 2020-12-09T06:30:48Z- waiting for 1607495449.79, time is 1607495448.00 2020-12-09T06:30:48Z- sync is 0.41, coherence is 2.00 2020-12-09T06:30:48Z- AHRS_M2 msg: 1607495448.79 epoch sec; seqNo:161 2020-12-09T06:30:48Z- AHRS_M2 msg: 4.62 phi; -0.03 theta; -0.25 psi 2020-12-09T06:30:48Z- waiting for 1607495449.79, time is 1607495448.00 2020-12-09T06:30:48Z- sync is 0.79, coherence is 2.00 2020-12-09T06:30:48Z- handleDepth()-Depth_Keller msg: 4.31 epoch sec; seqNo:1607495448802; depth 0.00 2020-12-09T06:30:48Z- waiting for 1607495449.79, time is 1607495448.00 2020-12-09T06:30:48Z- sync is 0.79, coherence is 2.00 2020-12-09T06:30:48Z- handleDvl() - RDI_Pathfinder msg: 1607495448.82 epoch sec; seqNo:86 2020-12-09T06:30:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.60 , 97.01 , 86.07 , 87.29 2020-12-09T06:30:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , 0.15 , 0.21 2020-12-09T06:30:48Z- waiting for 1607495449.79, time is 1607495448.82 2020-12-09T06:30:48Z- sync is 0.03, coherence is 2.00 2020-12-09T06:30:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495448.83 epoch sec; seqNo:172; 4061674.94 north; 594689.48 east 2020-12-09T06:30:48Z- waiting for 1607495449.79, time is 1607495448.82 2020-12-09T06:30:48Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:49Z- handleDepth()-Depth_Keller msg: 4.31 epoch sec; seqNo:1607495449222; depth 0.00 2020-12-09T06:30:49Z- waiting for 1607495449.79, time is 1607495448.82 2020-12-09T06:30:49Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495449.24 epoch sec; seqNo:173; 4061674.94 north; 594689.48 east 2020-12-09T06:30:49Z- waiting for 1607495449.79, time is 1607495448.82 2020-12-09T06:30:49Z- sync is 0.42, coherence is 2.00 2020-12-09T06:30:49Z- AHRS_M2 msg: 1607495449.60 epoch sec; seqNo:162 2020-12-09T06:30:49Z- AHRS_M2 msg: 4.63 phi; -0.05 theta; -0.26 psi 2020-12-09T06:30:49Z- waiting for 1607495449.79, time is 1607495448.82 2020-12-09T06:30:49Z- sync is 0.78, coherence is 2.00 2020-12-09T06:30:49Z- handleDepth()-Depth_Keller msg: 4.30 epoch sec; seqNo:1607495449605; depth 0.00 2020-12-09T06:30:49Z- waiting for 1607495449.79, time is 1607495448.82 2020-12-09T06:30:49Z- sync is 0.78, coherence is 2.00 2020-12-09T06:30:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495449.62 epoch sec; seqNo:174; 4061674.93 north; 594688.26 east 2020-12-09T06:30:49Z- waiting for 1607495449.79, time is 1607495448.82 2020-12-09T06:30:49Z- sync is 0.79, coherence is 2.00 2020-12-09T06:30:49Z- AHRS_M2 msg: 1607495450.00 epoch sec; seqNo:163 2020-12-09T06:30:49Z- AHRS_M2 msg: 4.63 phi; -0.06 theta; -0.27 psi 2020-12-09T06:30:49Z- waiting for 1607495449.79, time is 1607495448.82 2020-12-09T06:30:50Z- sync is 1.18, coherence is 2.00 2020-12-09T06:30:50Z- handleDepth()-Depth_Keller msg: 4.29 epoch sec; seqNo:1607495450016; depth 0.00 2020-12-09T06:30:50Z- waiting for 1607495449.79, time is 1607495448.82 2020-12-09T06:30:50Z- sync is 1.18, coherence is 2.00 2020-12-09T06:30:50Z- handleDvl() - RDI_Pathfinder msg: 1607495450.03 epoch sec; seqNo:87 2020-12-09T06:30:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.60 , 103.02 , 87.22 , 89.65 2020-12-09T06:30:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.67 , 0.03 , -0.10 2020-12-09T06:30:50Z- waiting for 1607495449.79, time is 1607495450.03 2020-12-09T06:30:50Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:50Z- LcmTrn::updateTrn() >>>> pose time 1607495450.00, meas time 1607495450.03 <<<< 2020-12-09T06:30:50Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495450.03 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:30:50Z- TerrainNav::motionUpdate() - currEstimate = (4061675, 594688.26, 4.29) 2020-12-09T06:30:50Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:30:50Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:30:50Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:30:50Z- TNavBF::mmse selected from filter -1 2020-12-09T06:30:50Z- variances([0], [2], and psi_berg) = 827.830497 833.206884 0.000000 2020-12-09T06:30:50Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:30:50Z- LcmTrn::cycle() - MLE : 4061634.43 594639.76 4.29 2020-12-09T06:30:50Z- LcmTrn::cycle() - MMSE : 4061674.93 594688.26 4.29 2020-12-09T06:30:50Z- LcmTrn::cycle() - COVAR: 827.83 833.21 26.95 0.00 2020-12-09T06:30:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495450.04 epoch sec; seqNo:175; 4061674.93 north; 594688.26 east 2020-12-09T06:30:50Z- waiting for 1607495453.03, time is 1607495450.03 2020-12-09T06:30:50Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:50Z- AHRS_M2 msg: 1607495450.40 epoch sec; seqNo:164 2020-12-09T06:30:50Z- AHRS_M2 msg: 4.64 phi; -0.06 theta; -0.27 psi 2020-12-09T06:30:50Z- waiting for 1607495453.03, time is 1607495450.03 2020-12-09T06:30:50Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:50Z- handleDepth()-Depth_Keller msg: 4.28 epoch sec; seqNo:1607495450410; depth 0.00 2020-12-09T06:30:50Z- waiting for 1607495453.03, time is 1607495450.03 2020-12-09T06:30:50Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495450.44 epoch sec; seqNo:176; 4061674.93 north; 594688.26 east 2020-12-09T06:30:50Z- waiting for 1607495453.03, time is 1607495450.03 2020-12-09T06:30:50Z- sync is 0.41, coherence is 2.00 2020-12-09T06:30:50Z- AHRS_M2 msg: 1607495450.81 epoch sec; seqNo:165 2020-12-09T06:30:50Z- AHRS_M2 msg: 4.64 phi; -0.06 theta; -0.27 psi 2020-12-09T06:30:50Z- waiting for 1607495453.03, time is 1607495450.03 2020-12-09T06:30:50Z- sync is 0.79, coherence is 2.00 2020-12-09T06:30:50Z- handleDepth()-Depth_Keller msg: 4.27 epoch sec; seqNo:1607495450816; depth 0.00 2020-12-09T06:30:50Z- waiting for 1607495453.03, time is 1607495450.03 2020-12-09T06:30:50Z- sync is 0.79, coherence is 2.00 2020-12-09T06:30:50Z- handleDvl() - RDI_Pathfinder msg: 1607495450.83 epoch sec; seqNo:88 2020-12-09T06:30:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.60 , 104.04 , 87.02 , 93.10 2020-12-09T06:30:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.07 , -0.23 2020-12-09T06:30:50Z- waiting for 1607495453.03, time is 1607495450.83 2020-12-09T06:30:50Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495450.84 epoch sec; seqNo:177; 4061674.93 north; 594688.26 east 2020-12-09T06:30:50Z- waiting for 1607495453.03, time is 1607495450.83 2020-12-09T06:30:50Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:51Z- AHRS_M2 msg: 1607495451.22 epoch sec; seqNo:166 2020-12-09T06:30:51Z- AHRS_M2 msg: 4.65 phi; -0.06 theta; -0.27 psi 2020-12-09T06:30:51Z- waiting for 1607495453.03, time is 1607495450.83 2020-12-09T06:30:51Z- sync is 0.39, coherence is 2.00 2020-12-09T06:30:51Z- handleDepth()-Depth_Keller msg: 4.27 epoch sec; seqNo:1607495451229; depth 0.00 2020-12-09T06:30:51Z- waiting for 1607495453.03, time is 1607495450.83 2020-12-09T06:30:51Z- sync is 0.39, coherence is 2.00 2020-12-09T06:30:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495451.24 epoch sec; seqNo:178; 4061674.53 north; 594687.04 east 2020-12-09T06:30:51Z- waiting for 1607495453.03, time is 1607495450.83 2020-12-09T06:30:51Z- sync is 0.41, coherence is 2.00 2020-12-09T06:30:51Z- AHRS_M2 msg: 1607495451.62 epoch sec; seqNo:167 2020-12-09T06:30:51Z- AHRS_M2 msg: 4.65 phi; -0.06 theta; -0.26 psi 2020-12-09T06:30:51Z- waiting for 1607495453.03, time is 1607495450.83 2020-12-09T06:30:51Z- sync is 0.79, coherence is 2.00 2020-12-09T06:30:51Z- handleDepth()-Depth_Keller msg: 4.27 epoch sec; seqNo:1607495451626; depth 0.00 2020-12-09T06:30:51Z- waiting for 1607495453.03, time is 1607495450.83 2020-12-09T06:30:51Z- sync is 0.79, coherence is 2.00 2020-12-09T06:30:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495451.63 epoch sec; seqNo:179; 4061674.53 north; 594687.04 east 2020-12-09T06:30:51Z- waiting for 1607495453.03, time is 1607495450.83 2020-12-09T06:30:51Z- sync is 0.81, coherence is 2.00 2020-12-09T06:30:52Z- AHRS_M2 msg: 1607495452.02 epoch sec; seqNo:168 2020-12-09T06:30:52Z- AHRS_M2 msg: 4.65 phi; -0.06 theta; -0.25 psi 2020-12-09T06:30:52Z- waiting for 1607495453.03, time is 1607495450.83 2020-12-09T06:30:52Z- sync is 1.19, coherence is 2.00 2020-12-09T06:30:52Z- handleDepth()-Depth_Keller msg: 4.30 epoch sec; seqNo:1607495452027; depth 0.00 2020-12-09T06:30:52Z- waiting for 1607495453.03, time is 1607495450.83 2020-12-09T06:30:52Z- sync is 1.19, coherence is 2.00 2020-12-09T06:30:52Z- handleDvl() - RDI_Pathfinder msg: 1607495452.04 epoch sec; seqNo:89 2020-12-09T06:30:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.60 , 102.75 , 84.52 , 91.81 2020-12-09T06:30:52Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , -0.12 , -0.22 2020-12-09T06:30:52Z- waiting for 1607495453.03, time is 1607495452.04 2020-12-09T06:30:52Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495452.05 epoch sec; seqNo:180; 4061674.53 north; 594687.04 east 2020-12-09T06:30:52Z- waiting for 1607495453.03, time is 1607495452.04 2020-12-09T06:30:52Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:52Z- AHRS_M2 msg: 1607495452.45 epoch sec; seqNo:169 2020-12-09T06:30:52Z- AHRS_M2 msg: 4.65 phi; -0.06 theta; -0.24 psi 2020-12-09T06:30:52Z- waiting for 1607495453.03, time is 1607495452.04 2020-12-09T06:30:52Z- sync is 0.41, coherence is 2.00 2020-12-09T06:30:52Z- handleDepth()-Depth_Keller msg: 4.30 epoch sec; seqNo:1607495452459; depth 0.00 2020-12-09T06:30:52Z- waiting for 1607495453.03, time is 1607495452.04 2020-12-09T06:30:52Z- sync is 0.41, coherence is 2.00 2020-12-09T06:30:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495452.49 epoch sec; seqNo:181; 4061674.52 north; 594685.82 east 2020-12-09T06:30:52Z- waiting for 1607495453.03, time is 1607495452.04 2020-12-09T06:30:52Z- sync is 0.45, coherence is 2.00 2020-12-09T06:30:52Z- AHRS_M2 msg: 1607495452.83 epoch sec; seqNo:170 2020-12-09T06:30:52Z- AHRS_M2 msg: 4.65 phi; -0.07 theta; -0.23 psi 2020-12-09T06:30:52Z- waiting for 1607495453.03, time is 1607495452.04 2020-12-09T06:30:52Z- sync is 0.79, coherence is 2.00 2020-12-09T06:30:52Z- handleDepth()-Depth_Keller msg: 4.34 epoch sec; seqNo:1607495452840; depth 0.00 2020-12-09T06:30:52Z- waiting for 1607495453.03, time is 1607495452.04 2020-12-09T06:30:52Z- sync is 0.79, coherence is 2.00 2020-12-09T06:30:52Z- handleDvl() - RDI_Pathfinder msg: 1607495452.85 epoch sec; seqNo:90 2020-12-09T06:30:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.19 , 101.67 , 82.22 , 90.73 2020-12-09T06:30:52Z- handleDvl() - RDI_Pathfinder msg: velocities 1.18 , -0.10 , -0.14 2020-12-09T06:30:52Z- waiting for 1607495453.03, time is 1607495452.85 2020-12-09T06:30:52Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495452.87 epoch sec; seqNo:182; 4061674.14 north; 594685.83 east 2020-12-09T06:30:52Z- waiting for 1607495453.03, time is 1607495452.85 2020-12-09T06:30:52Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:53Z- AHRS_M2 msg: 1607495453.23 epoch sec; seqNo:171 2020-12-09T06:30:53Z- AHRS_M2 msg: 4.64 phi; -0.08 theta; -0.22 psi 2020-12-09T06:30:53Z- waiting for 1607495453.03, time is 1607495452.85 2020-12-09T06:30:53Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:53Z- handleDepth()-Depth_Keller msg: 4.34 epoch sec; seqNo:1607495453237; depth 0.00 2020-12-09T06:30:53Z- waiting for 1607495453.03, time is 1607495452.85 2020-12-09T06:30:53Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495453.26 epoch sec; seqNo:183; 4061674.14 north; 594685.83 east 2020-12-09T06:30:53Z- waiting for 1607495453.03, time is 1607495452.85 2020-12-09T06:30:53Z- sync is 0.41, coherence is 2.00 2020-12-09T06:30:53Z- AHRS_M2 msg: 1607495453.64 epoch sec; seqNo:172 2020-12-09T06:30:53Z- AHRS_M2 msg: 4.64 phi; -0.08 theta; -0.22 psi 2020-12-09T06:30:53Z- waiting for 1607495453.03, time is 1607495452.85 2020-12-09T06:30:53Z- sync is 0.79, coherence is 2.00 2020-12-09T06:30:53Z- handleDepth()-Depth_Keller msg: 4.36 epoch sec; seqNo:1607495453651; depth 0.00 2020-12-09T06:30:53Z- waiting for 1607495453.03, time is 1607495452.85 2020-12-09T06:30:53Z- sync is 0.79, coherence is 2.00 2020-12-09T06:30:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495453.69 epoch sec; seqNo:184; 4061674.13 north; 594684.61 east 2020-12-09T06:30:53Z- waiting for 1607495453.03, time is 1607495452.85 2020-12-09T06:30:53Z- sync is 0.84, coherence is 2.00 2020-12-09T06:30:54Z- AHRS_M2 msg: 1607495454.04 epoch sec; seqNo:173 2020-12-09T06:30:54Z- AHRS_M2 msg: 4.63 phi; -0.08 theta; -0.22 psi 2020-12-09T06:30:54Z- waiting for 1607495453.03, time is 1607495452.85 2020-12-09T06:30:54Z- sync is 1.19, coherence is 2.00 2020-12-09T06:30:54Z- handleDepth()-Depth_Keller msg: 4.40 epoch sec; seqNo:1607495454054; depth 0.00 2020-12-09T06:30:54Z- waiting for 1607495453.03, time is 1607495452.85 2020-12-09T06:30:54Z- sync is 1.19, coherence is 2.00 2020-12-09T06:30:54Z- handleDvl() - RDI_Pathfinder msg: 1607495454.07 epoch sec; seqNo:91 2020-12-09T06:30:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.19 , 96.88 , 81.08 , 90.80 2020-12-09T06:30:54Z- handleDvl() - RDI_Pathfinder msg: velocities 1.19 , -0.04 , 0.02 2020-12-09T06:30:54Z- waiting for 1607495453.03, time is 1607495454.07 2020-12-09T06:30:54Z- sync is 0.03, coherence is 2.00 2020-12-09T06:30:54Z- LcmTrn::updateTrn() >>>> pose time 1607495454.04, meas time 1607495454.07 <<<< 2020-12-09T06:30:54Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495454.07 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:30:54Z- TerrainNav::motionUpdate() - currEstimate = (4061674, 594684.61, 4.40) 2020-12-09T06:30:54Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:30:54Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:30:54Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:30:54Z- TNavBF::mmse selected from filter -1 2020-12-09T06:30:54Z- variances([0], [2], and psi_berg) = 827.359153 833.203732 0.000000 2020-12-09T06:30:54Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:30:54Z- LcmTrn::cycle() - MLE : 4061633.63 594637.11 4.40 2020-12-09T06:30:54Z- LcmTrn::cycle() - MMSE : 4061674.13 594684.61 4.40 2020-12-09T06:30:54Z- LcmTrn::cycle() - COVAR: 827.36 833.20 27.14 0.00 2020-12-09T06:30:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495454.08 epoch sec; seqNo:185; 4061674.13 north; 594684.61 east 2020-12-09T06:30:54Z- waiting for 1607495457.07, time is 1607495454.07 2020-12-09T06:30:54Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:54Z- AHRS_M2 msg: 1607495454.45 epoch sec; seqNo:174 2020-12-09T06:30:54Z- AHRS_M2 msg: 4.62 phi; -0.09 theta; -0.22 psi 2020-12-09T06:30:54Z- waiting for 1607495457.07, time is 1607495454.07 2020-12-09T06:30:54Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:54Z- handleDepth()-Depth_Keller msg: 4.43 epoch sec; seqNo:1607495454463; depth 0.00 2020-12-09T06:30:54Z- waiting for 1607495457.07, time is 1607495454.07 2020-12-09T06:30:54Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495454.48 epoch sec; seqNo:186; 4061674.11 north; 594683.39 east 2020-12-09T06:30:54Z- waiting for 1607495457.07, time is 1607495454.07 2020-12-09T06:30:54Z- sync is 0.41, coherence is 2.00 2020-12-09T06:30:54Z- AHRS_M2 msg: 1607495454.85 epoch sec; seqNo:175 2020-12-09T06:30:54Z- AHRS_M2 msg: 4.61 phi; -0.09 theta; -0.22 psi 2020-12-09T06:30:54Z- waiting for 1607495457.07, time is 1607495454.07 2020-12-09T06:30:54Z- sync is 0.78, coherence is 2.00 2020-12-09T06:30:54Z- handleDepth()-Depth_Keller msg: 4.46 epoch sec; seqNo:1607495454858; depth 0.00 2020-12-09T06:30:54Z- waiting for 1607495457.07, time is 1607495454.07 2020-12-09T06:30:54Z- sync is 0.78, coherence is 2.00 2020-12-09T06:30:54Z- handleDvl() - RDI_Pathfinder msg: 1607495454.89 epoch sec; seqNo:92 2020-12-09T06:30:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 69.01 , 97.01 , 78.40 , 98.23 2020-12-09T06:30:54Z- handleDvl() - RDI_Pathfinder msg: velocities 1.14 , 0.06 , 0.26 2020-12-09T06:30:54Z- waiting for 1607495457.07, time is 1607495454.89 2020-12-09T06:30:54Z- sync is 0.05, coherence is 2.00 2020-12-09T06:30:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495454.91 epoch sec; seqNo:187; 4061674.11 north; 594683.39 east 2020-12-09T06:30:54Z- waiting for 1607495457.07, time is 1607495454.89 2020-12-09T06:30:54Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:55Z- AHRS_M2 msg: 1607495455.25 epoch sec; seqNo:176 2020-12-09T06:30:55Z- AHRS_M2 msg: 4.60 phi; -0.09 theta; -0.23 psi 2020-12-09T06:30:55Z- waiting for 1607495457.07, time is 1607495454.89 2020-12-09T06:30:55Z- sync is 0.36, coherence is 2.00 2020-12-09T06:30:55Z- handleDepth()-Depth_Keller msg: 4.50 epoch sec; seqNo:1607495455259; depth 0.00 2020-12-09T06:30:55Z- waiting for 1607495457.07, time is 1607495454.89 2020-12-09T06:30:55Z- sync is 0.36, coherence is 2.00 2020-12-09T06:30:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495455.27 epoch sec; seqNo:188; 4061674.11 north; 594683.39 east 2020-12-09T06:30:55Z- waiting for 1607495457.07, time is 1607495454.89 2020-12-09T06:30:55Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:55Z- AHRS_M2 msg: 1607495455.66 epoch sec; seqNo:177 2020-12-09T06:30:55Z- AHRS_M2 msg: 4.59 phi; -0.10 theta; -0.23 psi 2020-12-09T06:30:55Z- waiting for 1607495457.07, time is 1607495454.89 2020-12-09T06:30:55Z- sync is 0.76, coherence is 2.00 2020-12-09T06:30:55Z- handleDepth()-Depth_Keller msg: 4.53 epoch sec; seqNo:1607495455664; depth 0.00 2020-12-09T06:30:55Z- waiting for 1607495457.07, time is 1607495454.89 2020-12-09T06:30:55Z- sync is 0.76, coherence is 2.00 2020-12-09T06:30:55Z- handleDvl() - RDI_Pathfinder msg: 1607495455.68 epoch sec; seqNo:93 2020-12-09T06:30:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.60 , 96.88 , 79.22 , 0.00 2020-12-09T06:30:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.16 , 0.41 2020-12-09T06:30:55Z- waiting for 1607495457.07, time is 1607495455.68 2020-12-09T06:30:55Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495455.69 epoch sec; seqNo:189; 4061674.10 north; 594682.17 east 2020-12-09T06:30:55Z- waiting for 1607495457.07, time is 1607495455.68 2020-12-09T06:30:55Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:56Z- AHRS_M2 msg: 1607495456.06 epoch sec; seqNo:178 2020-12-09T06:30:56Z- AHRS_M2 msg: 4.59 phi; -0.10 theta; -0.23 psi 2020-12-09T06:30:56Z- waiting for 1607495457.07, time is 1607495455.68 2020-12-09T06:30:56Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:56Z- handleDepth()-Depth_Keller msg: 4.56 epoch sec; seqNo:1607495456070; depth 0.00 2020-12-09T06:30:56Z- waiting for 1607495457.07, time is 1607495455.68 2020-12-09T06:30:56Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495456.09 epoch sec; seqNo:190; 4061674.10 north; 594682.17 east 2020-12-09T06:30:56Z- waiting for 1607495457.07, time is 1607495455.68 2020-12-09T06:30:56Z- sync is 0.41, coherence is 2.00 2020-12-09T06:30:56Z- AHRS_M2 msg: 1607495456.47 epoch sec; seqNo:179 2020-12-09T06:30:56Z- AHRS_M2 msg: 4.58 phi; -0.11 theta; -0.24 psi 2020-12-09T06:30:56Z- waiting for 1607495457.07, time is 1607495455.68 2020-12-09T06:30:56Z- sync is 0.79, coherence is 2.00 2020-12-09T06:30:56Z- handleDepth()-Depth_Keller msg: 4.59 epoch sec; seqNo:1607495456473; depth 0.00 2020-12-09T06:30:56Z- waiting for 1607495457.07, time is 1607495455.68 2020-12-09T06:30:56Z- sync is 0.79, coherence is 2.00 2020-12-09T06:30:56Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:30:56Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:30:56Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:30:56Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:30:56Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:30:56Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:30:56Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:30:56Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:30:56Z- handleDvl() - RDI_Pathfinder msg: 1607495456.48 epoch sec; seqNo:94 2020-12-09T06:30:56Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:30:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.16 , 0.41 2020-12-09T06:30:56Z- waiting for 1607495457.07, time is 1607495456.48 2020-12-09T06:30:56Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495456.48 epoch sec; seqNo:191; 4061674.10 north; 594682.17 east 2020-12-09T06:30:56Z- waiting for 1607495457.07, time is 1607495456.48 2020-12-09T06:30:56Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:56Z- AHRS_M2 msg: 1607495456.87 epoch sec; seqNo:180 2020-12-09T06:30:56Z- AHRS_M2 msg: 4.58 phi; -0.12 theta; -0.24 psi 2020-12-09T06:30:56Z- waiting for 1607495457.07, time is 1607495456.48 2020-12-09T06:30:56Z- sync is 0.39, coherence is 2.00 2020-12-09T06:30:56Z- handleDepth()-Depth_Keller msg: 4.63 epoch sec; seqNo:1607495456875; depth 0.00 2020-12-09T06:30:56Z- waiting for 1607495457.07, time is 1607495456.48 2020-12-09T06:30:56Z- sync is 0.39, coherence is 2.00 2020-12-09T06:30:56Z- handleDvl() - RDI_Pathfinder msg: 1607495456.89 epoch sec; seqNo:95 2020-12-09T06:30:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.78 , 96.68 , 79.62 , 97.75 2020-12-09T06:30:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , 0.13 , 0.40 2020-12-09T06:30:56Z- waiting for 1607495457.07, time is 1607495456.89 2020-12-09T06:30:56Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495456.90 epoch sec; seqNo:192; 4061674.10 north; 594682.17 east 2020-12-09T06:30:56Z- waiting for 1607495457.07, time is 1607495456.89 2020-12-09T06:30:56Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:57Z- AHRS_M2 msg: 1607495457.27 epoch sec; seqNo:181 2020-12-09T06:30:57Z- AHRS_M2 msg: 4.58 phi; -0.13 theta; -0.23 psi 2020-12-09T06:30:57Z- waiting for 1607495457.07, time is 1607495456.89 2020-12-09T06:30:57Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:57Z- handleDepth()-Depth_Keller msg: 4.66 epoch sec; seqNo:1607495457278; depth 0.00 2020-12-09T06:30:57Z- waiting for 1607495457.07, time is 1607495456.89 2020-12-09T06:30:57Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495457.30 epoch sec; seqNo:193; 4061674.09 north; 594680.95 east 2020-12-09T06:30:57Z- waiting for 1607495457.07, time is 1607495456.89 2020-12-09T06:30:57Z- sync is 0.40, coherence is 2.00 2020-12-09T06:30:57Z- AHRS_M2 msg: 1607495457.68 epoch sec; seqNo:182 2020-12-09T06:30:57Z- AHRS_M2 msg: 4.58 phi; -0.13 theta; -0.21 psi 2020-12-09T06:30:57Z- waiting for 1607495457.07, time is 1607495456.89 2020-12-09T06:30:57Z- sync is 0.79, coherence is 2.00 2020-12-09T06:30:57Z- handleDepth()-Depth_Keller msg: 4.71 epoch sec; seqNo:1607495457682; depth 0.00 2020-12-09T06:30:57Z- waiting for 1607495457.07, time is 1607495456.89 2020-12-09T06:30:57Z- sync is 0.79, coherence is 2.00 2020-12-09T06:30:57Z- handleDvl() - RDI_Pathfinder msg: 1607495457.69 epoch sec; seqNo:96 2020-12-09T06:30:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 70.64 , 96.88 , 0.00 , 94.45 2020-12-09T06:30:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.59 , 0.12 , 0.18 2020-12-09T06:30:57Z- waiting for 1607495457.07, time is 1607495457.69 2020-12-09T06:30:57Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:57Z- LcmTrn::updateTrn() >>>> pose time 1607495457.68, meas time 1607495457.69 <<<< 2020-12-09T06:30:57Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495457.69 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:30:57Z- TerrainNav::motionUpdate() - currEstimate = (4061674, 594680.95, 4.71) 2020-12-09T06:30:57Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:30:57Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:30:57Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:30:57Z- TNavBF::mmse selected from filter -1 2020-12-09T06:30:57Z- variances([0], [2], and psi_berg) = 826.899694 833.200740 0.000000 2020-12-09T06:30:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:30:57Z- LcmTrn::cycle() - MLE : 4061634.59 594631.45 4.71 2020-12-09T06:30:57Z- LcmTrn::cycle() - MMSE : 4061674.09 594680.95 4.71 2020-12-09T06:30:57Z- LcmTrn::cycle() - COVAR: 826.90 833.20 27.32 0.00 2020-12-09T06:30:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495457.72 epoch sec; seqNo:194; 4061674.47 north; 594680.94 east 2020-12-09T06:30:57Z- waiting for 1607495460.69, time is 1607495457.69 2020-12-09T06:30:57Z- sync is 0.03, coherence is 2.00 2020-12-09T06:30:58Z- AHRS_M2 msg: 1607495458.08 epoch sec; seqNo:183 2020-12-09T06:30:58Z- AHRS_M2 msg: 4.58 phi; -0.13 theta; -0.22 psi 2020-12-09T06:30:58Z- waiting for 1607495460.69, time is 1607495457.69 2020-12-09T06:30:58Z- sync is 0.39, coherence is 2.00 2020-12-09T06:30:58Z- handleDepth()-Depth_Keller msg: 4.73 epoch sec; seqNo:1607495458093; depth 0.00 2020-12-09T06:30:58Z- waiting for 1607495460.69, time is 1607495457.69 2020-12-09T06:30:58Z- sync is 0.39, coherence is 2.00 2020-12-09T06:30:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495458.13 epoch sec; seqNo:195; 4061674.47 north; 594680.94 east 2020-12-09T06:30:58Z- waiting for 1607495460.69, time is 1607495457.69 2020-12-09T06:30:58Z- sync is 0.43, coherence is 2.00 2020-12-09T06:30:58Z- AHRS_M2 msg: 1607495458.49 epoch sec; seqNo:184 2020-12-09T06:30:58Z- AHRS_M2 msg: 4.58 phi; -0.13 theta; -0.23 psi 2020-12-09T06:30:58Z- waiting for 1607495460.69, time is 1607495457.69 2020-12-09T06:30:58Z- sync is 0.80, coherence is 2.00 2020-12-09T06:30:58Z- handleDepth()-Depth_Keller msg: 4.75 epoch sec; seqNo:1607495458500; depth 0.00 2020-12-09T06:30:58Z- waiting for 1607495460.69, time is 1607495457.69 2020-12-09T06:30:58Z- sync is 0.80, coherence is 2.00 2020-12-09T06:30:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495458.51 epoch sec; seqNo:196; 4061674.47 north; 594680.94 east 2020-12-09T06:30:58Z- waiting for 1607495460.69, time is 1607495457.69 2020-12-09T06:30:58Z- sync is 0.82, coherence is 2.00 2020-12-09T06:30:58Z- AHRS_M2 msg: 1607495458.90 epoch sec; seqNo:185 2020-12-09T06:30:58Z- AHRS_M2 msg: 4.58 phi; -0.13 theta; -0.23 psi 2020-12-09T06:30:58Z- waiting for 1607495460.69, time is 1607495457.69 2020-12-09T06:30:58Z- sync is 1.21, coherence is 2.00 2020-12-09T06:30:58Z- handleDepth()-Depth_Keller msg: 4.80 epoch sec; seqNo:1607495458910; depth 0.00 2020-12-09T06:30:58Z- waiting for 1607495460.69, time is 1607495457.69 2020-12-09T06:30:58Z- sync is 1.21, coherence is 2.00 2020-12-09T06:30:58Z- handleDvl() - RDI_Pathfinder msg: 1607495458.92 epoch sec; seqNo:97 2020-12-09T06:30:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.60 , 96.74 , 77.58 , 95.53 2020-12-09T06:30:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.57 , 0.20 , -0.05 2020-12-09T06:30:58Z- waiting for 1607495460.69, time is 1607495458.92 2020-12-09T06:30:58Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495458.93 epoch sec; seqNo:197; 4061674.45 north; 594679.72 east 2020-12-09T06:30:58Z- waiting for 1607495460.69, time is 1607495458.92 2020-12-09T06:30:58Z- sync is 0.01, coherence is 2.00 2020-12-09T06:30:59Z- AHRS_M2 msg: 1607495459.30 epoch sec; seqNo:186 2020-12-09T06:30:59Z- AHRS_M2 msg: 4.58 phi; -0.14 theta; -0.23 psi 2020-12-09T06:30:59Z- waiting for 1607495460.69, time is 1607495458.92 2020-12-09T06:30:59Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:59Z- handleDepth()-Depth_Keller msg: 4.85 epoch sec; seqNo:1607495459302; depth 0.00 2020-12-09T06:30:59Z- waiting for 1607495460.69, time is 1607495458.92 2020-12-09T06:30:59Z- sync is 0.38, coherence is 2.00 2020-12-09T06:30:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495459.32 epoch sec; seqNo:198; 4061674.45 north; 594679.72 east 2020-12-09T06:30:59Z- waiting for 1607495460.69, time is 1607495458.92 2020-12-09T06:30:59Z- sync is 0.40, coherence is 2.00 2020-12-09T06:30:59Z- AHRS_M2 msg: 1607495459.70 epoch sec; seqNo:187 2020-12-09T06:30:59Z- AHRS_M2 msg: 4.58 phi; -0.15 theta; -0.24 psi 2020-12-09T06:30:59Z- waiting for 1607495460.69, time is 1607495458.92 2020-12-09T06:30:59Z- sync is 0.78, coherence is 2.00 2020-12-09T06:30:59Z- handleDepth()-Depth_Keller msg: 4.86 epoch sec; seqNo:1607495459710; depth 0.00 2020-12-09T06:30:59Z- waiting for 1607495460.69, time is 1607495458.92 2020-12-09T06:30:59Z- sync is 0.78, coherence is 2.00 2020-12-09T06:30:59Z- handleDvl() - RDI_Pathfinder msg: 1607495459.72 epoch sec; seqNo:98 2020-12-09T06:30:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 71.05 , 96.94 , 78.40 , 94.51 2020-12-09T06:30:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.51 , 0.16 , -0.28 2020-12-09T06:30:59Z- waiting for 1607495460.69, time is 1607495459.72 2020-12-09T06:30:59Z- sync is 0.02, coherence is 2.00 2020-12-09T06:30:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495459.75 epoch sec; seqNo:199; 4061674.45 north; 594679.72 east 2020-12-09T06:30:59Z- waiting for 1607495460.69, time is 1607495459.72 2020-12-09T06:30:59Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:00Z- AHRS_M2 msg: 1607495460.11 epoch sec; seqNo:188 2020-12-09T06:31:00Z- AHRS_M2 msg: 4.58 phi; -0.16 theta; -0.25 psi 2020-12-09T06:31:00Z- waiting for 1607495460.69, time is 1607495459.72 2020-12-09T06:31:00Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:00Z- handleDepth()-Depth_Keller msg: 4.91 epoch sec; seqNo:1607495460113; depth 0.00 2020-12-09T06:31:00Z- waiting for 1607495460.69, time is 1607495459.72 2020-12-09T06:31:00Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:00Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:00Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:00Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:00Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:31:00Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:31:00Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:31:00Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:31:00Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:31:00Z- handleDvl() - RDI_Pathfinder msg: 1607495460.12 epoch sec; seqNo:99 2020-12-09T06:31:00Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:31:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.51 , 0.16 , -0.28 2020-12-09T06:31:00Z- waiting for 1607495460.69, time is 1607495460.12 2020-12-09T06:31:00Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495460.13 epoch sec; seqNo:200; 4061674.45 north; 594679.72 east 2020-12-09T06:31:00Z- waiting for 1607495460.69, time is 1607495460.12 2020-12-09T06:31:00Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:00Z- AHRS_M2 msg: 1607495460.52 epoch sec; seqNo:189 2020-12-09T06:31:00Z- AHRS_M2 msg: 4.59 phi; -0.17 theta; -0.25 psi 2020-12-09T06:31:00Z- waiting for 1607495460.69, time is 1607495460.12 2020-12-09T06:31:00Z- sync is 0.40, coherence is 2.00 2020-12-09T06:31:00Z- handleDepth()-Depth_Keller msg: 4.95 epoch sec; seqNo:1607495460524; depth 0.00 2020-12-09T06:31:00Z- waiting for 1607495460.69, time is 1607495460.12 2020-12-09T06:31:00Z- sync is 0.40, coherence is 2.00 2020-12-09T06:31:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495460.54 epoch sec; seqNo:201; 4061674.45 north; 594679.72 east 2020-12-09T06:31:00Z- waiting for 1607495460.69, time is 1607495460.12 2020-12-09T06:31:00Z- sync is 0.42, coherence is 2.00 2020-12-09T06:31:00Z- handleDepth()-Depth_Keller msg: 4.98 epoch sec; seqNo:1607495460935; depth 0.00 2020-12-09T06:31:00Z- waiting for 1607495460.69, time is 1607495460.12 2020-12-09T06:31:00Z- sync is 0.42, coherence is 2.00 2020-12-09T06:31:00Z- handleDvl() - RDI_Pathfinder msg: 1607495460.95 epoch sec; seqNo:100 2020-12-09T06:31:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 70.64 , 103.02 , 77.58 , 96.94 2020-12-09T06:31:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.60 , 0.02 , -0.56 2020-12-09T06:31:00Z- waiting for 1607495460.69, time is 1607495460.95 2020-12-09T06:31:00Z- sync is 0.41, coherence is 2.00 2020-12-09T06:31:00Z- LcmTrn::updateTrn() >>>> pose time 1607495460.54, meas time 1607495460.95 <<<< 2020-12-09T06:31:00Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495460.95 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:31:00Z- TerrainNav::motionUpdate() - currEstimate = (4061674, 594679.72, 4.98) 2020-12-09T06:31:00Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:31:00Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:31:00Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:31:00Z- TNavBF::mmse selected from filter -1 2020-12-09T06:31:00Z- variances([0], [2], and psi_berg) = 826.632229 833.199043 0.000000 2020-12-09T06:31:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:31:00Z- LcmTrn::cycle() - MLE : 4061634.95 594632.22 4.98 2020-12-09T06:31:00Z- LcmTrn::cycle() - MMSE : 4061674.45 594679.72 4.98 2020-12-09T06:31:00Z- LcmTrn::cycle() - COVAR: 826.63 833.20 27.39 0.00 2020-12-09T06:31:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495460.96 epoch sec; seqNo:202; 4061674.45 north; 594679.72 east 2020-12-09T06:31:00Z- waiting for 1607495463.95, time is 1607495460.95 2020-12-09T06:31:00Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:01Z- AHRS_M2 msg: 1607495461.31 epoch sec; seqNo:190 2020-12-09T06:31:01Z- AHRS_M2 msg: 4.60 phi; -0.18 theta; -0.26 psi 2020-12-09T06:31:01Z- waiting for 1607495463.95, time is 1607495460.95 2020-12-09T06:31:01Z- sync is 0.37, coherence is 2.00 2020-12-09T06:31:01Z- handleDepth()-Depth_Keller msg: 5.00 epoch sec; seqNo:1607495461326; depth 0.00 2020-12-09T06:31:01Z- waiting for 1607495463.95, time is 1607495460.95 2020-12-09T06:31:01Z- sync is 0.37, coherence is 2.00 2020-12-09T06:31:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495461.34 epoch sec; seqNo:203; 4061674.44 north; 594678.50 east 2020-12-09T06:31:01Z- waiting for 1607495463.95, time is 1607495460.95 2020-12-09T06:31:01Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:01Z- AHRS_M2 msg: 1607495461.75 epoch sec; seqNo:191 2020-12-09T06:31:01Z- AHRS_M2 msg: 4.61 phi; -0.18 theta; -0.25 psi 2020-12-09T06:31:01Z- waiting for 1607495463.95, time is 1607495460.95 2020-12-09T06:31:01Z- sync is 0.80, coherence is 2.00 2020-12-09T06:31:01Z- handleDepth()-Depth_Keller msg: 5.03 epoch sec; seqNo:1607495461752; depth 0.00 2020-12-09T06:31:01Z- waiting for 1607495463.95, time is 1607495460.95 2020-12-09T06:31:01Z- sync is 0.80, coherence is 2.00 2020-12-09T06:31:01Z- handleDvl() - RDI_Pathfinder msg: 1607495461.77 epoch sec; seqNo:101 2020-12-09T06:31:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 69.82 , 96.75 , 79.73 , 96.75 2020-12-09T06:31:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.03 , -0.81 2020-12-09T06:31:01Z- waiting for 1607495463.95, time is 1607495461.77 2020-12-09T06:31:01Z- sync is 0.03, coherence is 2.00 2020-12-09T06:31:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495461.79 epoch sec; seqNo:204; 4061674.06 north; 594678.51 east 2020-12-09T06:31:01Z- waiting for 1607495463.95, time is 1607495461.77 2020-12-09T06:31:01Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:02Z- AHRS_M2 msg: 1607495462.12 epoch sec; seqNo:192 2020-12-09T06:31:02Z- AHRS_M2 msg: 4.62 phi; -0.17 theta; -0.24 psi 2020-12-09T06:31:02Z- waiting for 1607495463.95, time is 1607495461.77 2020-12-09T06:31:02Z- sync is 0.35, coherence is 2.00 2020-12-09T06:31:02Z- handleDepth()-Depth_Keller msg: 5.06 epoch sec; seqNo:1607495462130; depth 0.00 2020-12-09T06:31:02Z- waiting for 1607495463.95, time is 1607495461.77 2020-12-09T06:31:02Z- sync is 0.35, coherence is 2.00 2020-12-09T06:31:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495462.15 epoch sec; seqNo:205; 4061674.06 north; 594678.51 east 2020-12-09T06:31:02Z- waiting for 1607495463.95, time is 1607495461.77 2020-12-09T06:31:02Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:02Z- AHRS_M2 msg: 1607495462.53 epoch sec; seqNo:193 2020-12-09T06:31:02Z- AHRS_M2 msg: 4.62 phi; -0.16 theta; -0.23 psi 2020-12-09T06:31:02Z- waiting for 1607495463.95, time is 1607495461.77 2020-12-09T06:31:02Z- sync is 0.75, coherence is 2.00 2020-12-09T06:31:02Z- handleDepth()-Depth_Keller msg: 5.08 epoch sec; seqNo:1607495462531; depth 0.00 2020-12-09T06:31:02Z- waiting for 1607495463.95, time is 1607495461.77 2020-12-09T06:31:02Z- sync is 0.75, coherence is 2.00 2020-12-09T06:31:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495462.55 epoch sec; seqNo:206; 4061673.67 north; 594677.29 east 2020-12-09T06:31:02Z- waiting for 1607495463.95, time is 1607495461.77 2020-12-09T06:31:02Z- sync is 0.78, coherence is 2.00 2020-12-09T06:31:02Z- AHRS_M2 msg: 1607495462.93 epoch sec; seqNo:194 2020-12-09T06:31:02Z- AHRS_M2 msg: 4.62 phi; -0.15 theta; -0.21 psi 2020-12-09T06:31:02Z- waiting for 1607495463.95, time is 1607495461.77 2020-12-09T06:31:02Z- sync is 1.16, coherence is 2.00 2020-12-09T06:31:02Z- handleDepth()-Depth_Keller msg: 5.12 epoch sec; seqNo:1607495462938; depth 0.00 2020-12-09T06:31:02Z- waiting for 1607495463.95, time is 1607495461.77 2020-12-09T06:31:02Z- sync is 1.16, coherence is 2.00 2020-12-09T06:31:02Z- handleDvl() - RDI_Pathfinder msg: 1607495462.95 epoch sec; seqNo:102 2020-12-09T06:31:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 69.00 , 100.53 , 75.53 , 95.67 2020-12-09T06:31:02Z- handleDvl() - RDI_Pathfinder msg: velocities 1.47 , 0.07 , -0.66 2020-12-09T06:31:02Z- waiting for 1607495463.95, time is 1607495462.95 2020-12-09T06:31:02Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495462.98 epoch sec; seqNo:207; 4061673.67 north; 594677.29 east 2020-12-09T06:31:03Z- waiting for 1607495463.95, time is 1607495462.95 2020-12-09T06:31:03Z- sync is 0.03, coherence is 2.00 2020-12-09T06:31:03Z- AHRS_M2 msg: 1607495463.33 epoch sec; seqNo:195 2020-12-09T06:31:03Z- AHRS_M2 msg: 4.62 phi; -0.13 theta; -0.19 psi 2020-12-09T06:31:03Z- waiting for 1607495463.95, time is 1607495462.95 2020-12-09T06:31:03Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:03Z- handleDepth()-Depth_Keller msg: 5.17 epoch sec; seqNo:1607495463345; depth 0.00 2020-12-09T06:31:03Z- waiting for 1607495463.95, time is 1607495462.95 2020-12-09T06:31:03Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495463.36 epoch sec; seqNo:208; 4061673.65 north; 594676.07 east 2020-12-09T06:31:03Z- waiting for 1607495463.95, time is 1607495462.95 2020-12-09T06:31:03Z- sync is 0.40, coherence is 2.00 2020-12-09T06:31:03Z- AHRS_M2 msg: 1607495463.74 epoch sec; seqNo:196 2020-12-09T06:31:03Z- AHRS_M2 msg: 4.62 phi; -0.12 theta; -0.18 psi 2020-12-09T06:31:03Z- waiting for 1607495463.95, time is 1607495462.95 2020-12-09T06:31:03Z- sync is 0.79, coherence is 2.00 2020-12-09T06:31:03Z- handleDepth()-Depth_Keller msg: 5.23 epoch sec; seqNo:1607495463745; depth 0.00 2020-12-09T06:31:03Z- waiting for 1607495463.95, time is 1607495462.95 2020-12-09T06:31:03Z- sync is 0.79, coherence is 2.00 2020-12-09T06:31:03Z- handleDvl() - RDI_Pathfinder msg: 1607495463.76 epoch sec; seqNo:103 2020-12-09T06:31:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.38 , 96.94 , 74.32 , 98.16 2020-12-09T06:31:03Z- handleDvl() - RDI_Pathfinder msg: velocities 1.66 , 0.22 , -0.03 2020-12-09T06:31:03Z- waiting for 1607495463.95, time is 1607495463.76 2020-12-09T06:31:03Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495463.77 epoch sec; seqNo:209; 4061673.65 north; 594676.07 east 2020-12-09T06:31:03Z- waiting for 1607495463.95, time is 1607495463.76 2020-12-09T06:31:03Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:04Z- AHRS_M2 msg: 1607495464.14 epoch sec; seqNo:197 2020-12-09T06:31:04Z- AHRS_M2 msg: 4.61 phi; -0.12 theta; -0.17 psi 2020-12-09T06:31:04Z- waiting for 1607495463.95, time is 1607495463.76 2020-12-09T06:31:04Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:04Z- handleDepth()-Depth_Keller msg: 5.29 epoch sec; seqNo:1607495464150; depth 0.00 2020-12-09T06:31:04Z- waiting for 1607495463.95, time is 1607495463.76 2020-12-09T06:31:04Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495464.18 epoch sec; seqNo:210; 4061673.64 north; 594674.85 east 2020-12-09T06:31:04Z- waiting for 1607495463.95, time is 1607495463.76 2020-12-09T06:31:04Z- sync is 0.42, coherence is 2.00 2020-12-09T06:31:04Z- AHRS_M2 msg: 1607495464.55 epoch sec; seqNo:198 2020-12-09T06:31:04Z- AHRS_M2 msg: 4.59 phi; -0.12 theta; -0.18 psi 2020-12-09T06:31:04Z- waiting for 1607495463.95, time is 1607495463.76 2020-12-09T06:31:04Z- sync is 0.79, coherence is 2.00 2020-12-09T06:31:04Z- handleDepth()-Depth_Keller msg: 5.36 epoch sec; seqNo:1607495464550; depth 0.00 2020-12-09T06:31:04Z- waiting for 1607495463.95, time is 1607495463.76 2020-12-09T06:31:04Z- sync is 0.79, coherence is 2.00 2020-12-09T06:31:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495464.56 epoch sec; seqNo:211; 4061673.64 north; 594674.85 east 2020-12-09T06:31:04Z- waiting for 1607495463.95, time is 1607495463.76 2020-12-09T06:31:04Z- sync is 0.81, coherence is 2.00 2020-12-09T06:31:04Z- AHRS_M2 msg: 1607495464.95 epoch sec; seqNo:199 2020-12-09T06:31:04Z- AHRS_M2 msg: 4.58 phi; -0.14 theta; -0.19 psi 2020-12-09T06:31:04Z- waiting for 1607495463.95, time is 1607495463.76 2020-12-09T06:31:04Z- sync is 1.19, coherence is 2.00 2020-12-09T06:31:04Z- handleDepth()-Depth_Keller msg: 5.42 epoch sec; seqNo:1607495464956; depth 0.00 2020-12-09T06:31:04Z- waiting for 1607495463.95, time is 1607495463.76 2020-12-09T06:31:04Z- sync is 1.19, coherence is 2.00 2020-12-09T06:31:04Z- handleDvl() - RDI_Pathfinder msg: 1607495464.97 epoch sec; seqNo:104 2020-12-09T06:31:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.38 , 94.58 , 73.91 , 88.50 2020-12-09T06:31:04Z- handleDvl() - RDI_Pathfinder msg: velocities 1.52 , 0.17 , 0.49 2020-12-09T06:31:04Z- waiting for 1607495463.95, time is 1607495464.97 2020-12-09T06:31:04Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:04Z- LcmTrn::updateTrn() >>>> pose time 1607495464.95, meas time 1607495464.97 <<<< 2020-12-09T06:31:04Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495464.97 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:31:04Z- TerrainNav::motionUpdate() - currEstimate = (4061674, 594674.85, 5.42) 2020-12-09T06:31:04Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:31:04Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:31:04Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:31:04Z- TNavBF::mmse selected from filter -1 2020-12-09T06:31:04Z- variances([0], [2], and psi_berg) = 826.110700 833.195783 0.000000 2020-12-09T06:31:04Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:31:04Z- LcmTrn::cycle() - MLE : 4061634.14 594627.35 5.42 2020-12-09T06:31:04Z- LcmTrn::cycle() - MMSE : 4061673.64 594674.85 5.42 2020-12-09T06:31:04Z- LcmTrn::cycle() - COVAR: 826.11 833.20 27.64 0.00 2020-12-09T06:31:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495464.98 epoch sec; seqNo:212; 4061673.63 north; 594673.63 east 2020-12-09T06:31:04Z- waiting for 1607495467.97, time is 1607495464.97 2020-12-09T06:31:04Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:05Z- AHRS_M2 msg: 1607495465.36 epoch sec; seqNo:200 2020-12-09T06:31:05Z- AHRS_M2 msg: 4.57 phi; -0.15 theta; -0.21 psi 2020-12-09T06:31:05Z- waiting for 1607495467.97, time is 1607495464.97 2020-12-09T06:31:05Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:05Z- handleDepth()-Depth_Keller msg: 5.46 epoch sec; seqNo:1607495465360; depth 0.00 2020-12-09T06:31:05Z- waiting for 1607495467.97, time is 1607495464.97 2020-12-09T06:31:05Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495465.37 epoch sec; seqNo:213; 4061673.63 north; 594673.63 east 2020-12-09T06:31:05Z- waiting for 1607495467.97, time is 1607495464.97 2020-12-09T06:31:05Z- sync is 0.40, coherence is 2.00 2020-12-09T06:31:05Z- AHRS_M2 msg: 1607495465.76 epoch sec; seqNo:201 2020-12-09T06:31:05Z- AHRS_M2 msg: 4.57 phi; -0.16 theta; -0.23 psi 2020-12-09T06:31:05Z- waiting for 1607495467.97, time is 1607495464.97 2020-12-09T06:31:05Z- sync is 0.79, coherence is 2.00 2020-12-09T06:31:05Z- handleDepth()-Depth_Keller msg: 5.52 epoch sec; seqNo:1607495465762; depth 0.00 2020-12-09T06:31:05Z- waiting for 1607495467.97, time is 1607495464.97 2020-12-09T06:31:05Z- sync is 0.79, coherence is 2.00 2020-12-09T06:31:05Z- handleDvl() - RDI_Pathfinder msg: 1607495465.78 epoch sec; seqNo:105 2020-12-09T06:31:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.55 , 96.75 , 74.31 , 90.26 2020-12-09T06:31:05Z- handleDvl() - RDI_Pathfinder msg: velocities 1.23 , 0.11 , 0.47 2020-12-09T06:31:05Z- waiting for 1607495467.97, time is 1607495465.78 2020-12-09T06:31:05Z- sync is 0.03, coherence is 2.00 2020-12-09T06:31:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495465.80 epoch sec; seqNo:214; 4061673.61 north; 594672.41 east 2020-12-09T06:31:05Z- waiting for 1607495467.97, time is 1607495465.78 2020-12-09T06:31:05Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:06Z- AHRS_M2 msg: 1607495466.17 epoch sec; seqNo:202 2020-12-09T06:31:06Z- AHRS_M2 msg: 4.58 phi; -0.16 theta; -0.24 psi 2020-12-09T06:31:06Z- waiting for 1607495467.97, time is 1607495465.78 2020-12-09T06:31:06Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:06Z- handleDepth()-Depth_Keller msg: 5.58 epoch sec; seqNo:1607495466178; depth 0.00 2020-12-09T06:31:06Z- waiting for 1607495467.97, time is 1607495465.78 2020-12-09T06:31:06Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:06Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:06Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:06Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:06Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:31:06Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:31:06Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:31:06Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:31:06Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:31:06Z- handleDvl() - RDI_Pathfinder msg: 1607495466.18 epoch sec; seqNo:106 2020-12-09T06:31:06Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:31:06Z- handleDvl() - RDI_Pathfinder msg: velocities 1.23 , 0.11 , 0.47 2020-12-09T06:31:06Z- waiting for 1607495467.97, time is 1607495466.18 2020-12-09T06:31:06Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495466.21 epoch sec; seqNo:215; 4061673.61 north; 594672.41 east 2020-12-09T06:31:06Z- waiting for 1607495467.97, time is 1607495466.18 2020-12-09T06:31:06Z- sync is 0.03, coherence is 2.00 2020-12-09T06:31:06Z- AHRS_M2 msg: 1607495466.57 epoch sec; seqNo:203 2020-12-09T06:31:06Z- AHRS_M2 msg: 4.59 phi; -0.16 theta; -0.25 psi 2020-12-09T06:31:06Z- waiting for 1607495467.97, time is 1607495466.18 2020-12-09T06:31:06Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:06Z- handleDepth()-Depth_Keller msg: 5.63 epoch sec; seqNo:1607495466572; depth 0.00 2020-12-09T06:31:06Z- waiting for 1607495467.97, time is 1607495466.18 2020-12-09T06:31:06Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495466.58 epoch sec; seqNo:216; 4061673.60 north; 594671.19 east 2020-12-09T06:31:06Z- waiting for 1607495467.97, time is 1607495466.18 2020-12-09T06:31:06Z- sync is 0.40, coherence is 2.00 2020-12-09T06:31:06Z- AHRS_M2 msg: 1607495466.98 epoch sec; seqNo:204 2020-12-09T06:31:06Z- AHRS_M2 msg: 4.59 phi; -0.16 theta; -0.25 psi 2020-12-09T06:31:06Z- waiting for 1607495467.97, time is 1607495466.18 2020-12-09T06:31:06Z- sync is 0.80, coherence is 2.00 2020-12-09T06:31:06Z- handleDepth()-Depth_Keller msg: 5.67 epoch sec; seqNo:1607495466982; depth 0.00 2020-12-09T06:31:06Z- waiting for 1607495467.97, time is 1607495466.18 2020-12-09T06:31:06Z- sync is 0.80, coherence is 2.00 2020-12-09T06:31:06Z- handleDvl() - RDI_Pathfinder msg: 1607495466.99 epoch sec; seqNo:107 2020-12-09T06:31:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.55 , 96.68 , 75.13 , 92.36 2020-12-09T06:31:06Z- handleDvl() - RDI_Pathfinder msg: velocities 1.16 , 0.10 , 0.31 2020-12-09T06:31:06Z- waiting for 1607495467.97, time is 1607495466.99 2020-12-09T06:31:06Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495467.01 epoch sec; seqNo:217; 4061673.98 north; 594671.18 east 2020-12-09T06:31:06Z- waiting for 1607495467.97, time is 1607495466.99 2020-12-09T06:31:06Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:07Z- AHRS_M2 msg: 1607495467.37 epoch sec; seqNo:205 2020-12-09T06:31:07Z- AHRS_M2 msg: 4.59 phi; -0.15 theta; -0.24 psi 2020-12-09T06:31:07Z- waiting for 1607495467.97, time is 1607495466.99 2020-12-09T06:31:07Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:07Z- handleDepth()-Depth_Keller msg: 5.71 epoch sec; seqNo:1607495467378; depth 0.00 2020-12-09T06:31:07Z- waiting for 1607495467.97, time is 1607495466.99 2020-12-09T06:31:07Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:07Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:07Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:07Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:07Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:31:07Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:31:07Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:31:07Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:31:07Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:31:07Z- handleDvl() - RDI_Pathfinder msg: 1607495467.38 epoch sec; seqNo:108 2020-12-09T06:31:07Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:31:07Z- handleDvl() - RDI_Pathfinder msg: velocities 1.16 , 0.10 , 0.31 2020-12-09T06:31:07Z- waiting for 1607495467.97, time is 1607495467.38 2020-12-09T06:31:07Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495467.40 epoch sec; seqNo:218; 4061673.98 north; 594671.18 east 2020-12-09T06:31:07Z- waiting for 1607495467.97, time is 1607495467.38 2020-12-09T06:31:07Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:07Z- handleDepth()-Depth_Keller msg: 5.77 epoch sec; seqNo:1607495467795; depth 0.00 2020-12-09T06:31:07Z- waiting for 1607495467.97, time is 1607495467.38 2020-12-09T06:31:07Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:07Z- handleDvl() - RDI_Pathfinder msg: 1607495467.81 epoch sec; seqNo:109 2020-12-09T06:31:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.14 , 97.15 , 74.72 , 98.37 2020-12-09T06:31:07Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , 0.12 , 0.39 2020-12-09T06:31:07Z- waiting for 1607495467.97, time is 1607495467.81 2020-12-09T06:31:07Z- sync is 0.41, coherence is 2.00 2020-12-09T06:31:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495467.82 epoch sec; seqNo:219; 4061673.97 north; 594669.96 east 2020-12-09T06:31:07Z- waiting for 1607495467.97, time is 1607495467.81 2020-12-09T06:31:07Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:08Z- AHRS_M2 msg: 1607495468.19 epoch sec; seqNo:206 2020-12-09T06:31:08Z- AHRS_M2 msg: 4.59 phi; -0.15 theta; -0.21 psi 2020-12-09T06:31:08Z- waiting for 1607495467.97, time is 1607495467.81 2020-12-09T06:31:08Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:08Z- handleDepth()-Depth_Keller msg: 5.84 epoch sec; seqNo:1607495468194; depth 0.00 2020-12-09T06:31:08Z- waiting for 1607495467.97, time is 1607495467.81 2020-12-09T06:31:08Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495468.21 epoch sec; seqNo:220; 4061673.97 north; 594669.96 east 2020-12-09T06:31:08Z- waiting for 1607495467.97, time is 1607495467.81 2020-12-09T06:31:08Z- sync is 0.40, coherence is 2.00 2020-12-09T06:31:08Z- AHRS_M2 msg: 1607495468.62 epoch sec; seqNo:207 2020-12-09T06:31:08Z- AHRS_M2 msg: 4.59 phi; -0.15 theta; -0.20 psi 2020-12-09T06:31:08Z- waiting for 1607495467.97, time is 1607495467.81 2020-12-09T06:31:08Z- sync is 0.81, coherence is 2.00 2020-12-09T06:31:08Z- handleDepth()-Depth_Keller msg: 5.89 epoch sec; seqNo:1607495468630; depth 0.00 2020-12-09T06:31:08Z- waiting for 1607495467.97, time is 1607495467.81 2020-12-09T06:31:08Z- sync is 0.81, coherence is 2.00 2020-12-09T06:31:08Z- handleDvl() - RDI_Pathfinder msg: 1607495468.64 epoch sec; seqNo:110 2020-12-09T06:31:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.96 , 97.01 , 74.72 , 92.15 2020-12-09T06:31:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , 0.14 , 0.67 2020-12-09T06:31:08Z- waiting for 1607495467.97, time is 1607495468.64 2020-12-09T06:31:08Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:08Z- LcmTrn::updateTrn() >>>> pose time 1607495468.62, meas time 1607495468.64 <<<< 2020-12-09T06:31:08Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495468.64 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:31:08Z- TerrainNav::motionUpdate() - currEstimate = (4061674, 594669.96, 5.89) 2020-12-09T06:31:08Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:31:08Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:31:08Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:31:08Z- TNavBF::mmse selected from filter -1 2020-12-09T06:31:08Z- variances([0], [2], and psi_berg) = 825.600029 833.192682 0.000000 2020-12-09T06:31:08Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:31:08Z- LcmTrn::cycle() - MLE : 4061635.47 594620.46 5.89 2020-12-09T06:31:08Z- LcmTrn::cycle() - MMSE : 4061673.97 594669.96 5.89 2020-12-09T06:31:08Z- LcmTrn::cycle() - COVAR: 825.60 833.19 27.89 0.00 2020-12-09T06:31:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495468.67 epoch sec; seqNo:221; 4061673.97 north; 594669.96 east 2020-12-09T06:31:08Z- waiting for 1607495471.64, time is 1607495468.64 2020-12-09T06:31:08Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:08Z- AHRS_M2 msg: 1607495468.99 epoch sec; seqNo:208 2020-12-09T06:31:08Z- AHRS_M2 msg: 4.58 phi; -0.15 theta; -0.19 psi 2020-12-09T06:31:08Z- waiting for 1607495471.64, time is 1607495468.64 2020-12-09T06:31:08Z- sync is 0.35, coherence is 2.00 2020-12-09T06:31:08Z- handleDepth()-Depth_Keller msg: 5.98 epoch sec; seqNo:1607495468995; depth 0.00 2020-12-09T06:31:08Z- waiting for 1607495471.64, time is 1607495468.64 2020-12-09T06:31:08Z- sync is 0.35, coherence is 2.00 2020-12-09T06:31:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495469.01 epoch sec; seqNo:222; 4061673.97 north; 594669.96 east 2020-12-09T06:31:09Z- waiting for 1607495471.64, time is 1607495468.64 2020-12-09T06:31:09Z- sync is 0.37, coherence is 2.00 2020-12-09T06:31:09Z- AHRS_M2 msg: 1607495469.40 epoch sec; seqNo:209 2020-12-09T06:31:09Z- AHRS_M2 msg: 4.57 phi; -0.16 theta; -0.20 psi 2020-12-09T06:31:09Z- waiting for 1607495471.64, time is 1607495468.64 2020-12-09T06:31:09Z- sync is 0.75, coherence is 2.00 2020-12-09T06:31:09Z- handleDepth()-Depth_Keller msg: 6.03 epoch sec; seqNo:1607495469400; depth 0.00 2020-12-09T06:31:09Z- waiting for 1607495471.64, time is 1607495468.64 2020-12-09T06:31:09Z- sync is 0.75, coherence is 2.00 2020-12-09T06:31:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495469.41 epoch sec; seqNo:223; 4061673.95 north; 594668.74 east 2020-12-09T06:31:09Z- waiting for 1607495471.64, time is 1607495468.64 2020-12-09T06:31:09Z- sync is 0.77, coherence is 2.00 2020-12-09T06:31:09Z- AHRS_M2 msg: 1607495469.80 epoch sec; seqNo:210 2020-12-09T06:31:09Z- AHRS_M2 msg: 4.56 phi; -0.17 theta; -0.21 psi 2020-12-09T06:31:09Z- waiting for 1607495471.64, time is 1607495468.64 2020-12-09T06:31:09Z- sync is 1.16, coherence is 2.00 2020-12-09T06:31:09Z- handleDepth()-Depth_Keller msg: 6.09 epoch sec; seqNo:1607495469804; depth 0.00 2020-12-09T06:31:09Z- waiting for 1607495471.64, time is 1607495468.64 2020-12-09T06:31:09Z- sync is 1.16, coherence is 2.00 2020-12-09T06:31:09Z- handleDvl() - RDI_Pathfinder msg: 1607495469.82 epoch sec; seqNo:111 2020-12-09T06:31:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.78 , 95.93 , 73.90 , 98.37 2020-12-09T06:31:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.43 , 0.05 , 0.67 2020-12-09T06:31:09Z- waiting for 1607495471.64, time is 1607495469.82 2020-12-09T06:31:09Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495469.83 epoch sec; seqNo:224; 4061673.95 north; 594668.74 east 2020-12-09T06:31:09Z- waiting for 1607495471.64, time is 1607495469.82 2020-12-09T06:31:09Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:10Z- AHRS_M2 msg: 1607495470.21 epoch sec; seqNo:211 2020-12-09T06:31:10Z- AHRS_M2 msg: 4.55 phi; -0.17 theta; -0.22 psi 2020-12-09T06:31:10Z- waiting for 1607495471.64, time is 1607495469.82 2020-12-09T06:31:10Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:10Z- handleDepth()-Depth_Keller msg: 6.15 epoch sec; seqNo:1607495470224; depth 0.00 2020-12-09T06:31:10Z- waiting for 1607495471.64, time is 1607495469.82 2020-12-09T06:31:10Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495470.23 epoch sec; seqNo:225; 4061674.33 north; 594668.74 east 2020-12-09T06:31:10Z- waiting for 1607495471.64, time is 1607495469.82 2020-12-09T06:31:10Z- sync is 0.42, coherence is 2.00 2020-12-09T06:31:10Z- AHRS_M2 msg: 1607495470.62 epoch sec; seqNo:212 2020-12-09T06:31:10Z- AHRS_M2 msg: 4.55 phi; -0.18 theta; -0.24 psi 2020-12-09T06:31:10Z- waiting for 1607495471.64, time is 1607495469.82 2020-12-09T06:31:10Z- sync is 0.81, coherence is 2.00 2020-12-09T06:31:10Z- handleDepth()-Depth_Keller msg: 6.21 epoch sec; seqNo:1607495470642; depth 0.00 2020-12-09T06:31:10Z- waiting for 1607495471.64, time is 1607495469.82 2020-12-09T06:31:10Z- sync is 0.81, coherence is 2.00 2020-12-09T06:31:10Z- handleDvl() - RDI_Pathfinder msg: 1607495470.66 epoch sec; seqNo:112 2020-12-09T06:31:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 69.41 , 97.01 , 76.35 , 98.23 2020-12-09T06:31:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.14 , -0.08 , 0.33 2020-12-09T06:31:10Z- waiting for 1607495471.64, time is 1607495470.66 2020-12-09T06:31:10Z- sync is 0.03, coherence is 2.00 2020-12-09T06:31:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495470.68 epoch sec; seqNo:226; 4061674.33 north; 594668.74 east 2020-12-09T06:31:10Z- waiting for 1607495471.64, time is 1607495470.66 2020-12-09T06:31:10Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:11Z- AHRS_M2 msg: 1607495471.01 epoch sec; seqNo:213 2020-12-09T06:31:11Z- AHRS_M2 msg: 4.55 phi; -0.19 theta; -0.25 psi 2020-12-09T06:31:11Z- waiting for 1607495471.64, time is 1607495470.66 2020-12-09T06:31:11Z- sync is 0.35, coherence is 2.00 2020-12-09T06:31:11Z- handleDepth()-Depth_Keller msg: 6.27 epoch sec; seqNo:1607495471022; depth 0.00 2020-12-09T06:31:11Z- waiting for 1607495471.64, time is 1607495470.66 2020-12-09T06:31:11Z- sync is 0.35, coherence is 2.00 2020-12-09T06:31:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495471.04 epoch sec; seqNo:227; 4061674.33 north; 594668.74 east 2020-12-09T06:31:11Z- waiting for 1607495471.64, time is 1607495470.66 2020-12-09T06:31:11Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:11Z- AHRS_M2 msg: 1607495471.42 epoch sec; seqNo:214 2020-12-09T06:31:11Z- AHRS_M2 msg: 4.56 phi; -0.20 theta; -0.27 psi 2020-12-09T06:31:11Z- waiting for 1607495471.64, time is 1607495470.66 2020-12-09T06:31:11Z- sync is 0.76, coherence is 2.00 2020-12-09T06:31:11Z- handleDepth()-Depth_Keller msg: 6.31 epoch sec; seqNo:1607495471428; depth 0.00 2020-12-09T06:31:11Z- waiting for 1607495471.64, time is 1607495470.66 2020-12-09T06:31:11Z- sync is 0.76, coherence is 2.00 2020-12-09T06:31:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495471.44 epoch sec; seqNo:228; 4061674.33 north; 594668.74 east 2020-12-09T06:31:11Z- waiting for 1607495471.64, time is 1607495470.66 2020-12-09T06:31:11Z- sync is 0.78, coherence is 2.00 2020-12-09T06:31:11Z- AHRS_M2 msg: 1607495471.82 epoch sec; seqNo:215 2020-12-09T06:31:11Z- AHRS_M2 msg: 4.56 phi; -0.21 theta; -0.28 psi 2020-12-09T06:31:11Z- waiting for 1607495471.64, time is 1607495470.66 2020-12-09T06:31:11Z- sync is 1.16, coherence is 2.00 2020-12-09T06:31:11Z- handleDepth()-Depth_Keller msg: 6.36 epoch sec; seqNo:1607495471825; depth 0.00 2020-12-09T06:31:11Z- waiting for 1607495471.64, time is 1607495470.66 2020-12-09T06:31:11Z- sync is 1.16, coherence is 2.00 2020-12-09T06:31:11Z- handleDvl() - RDI_Pathfinder msg: 1607495471.85 epoch sec; seqNo:113 2020-12-09T06:31:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.59 , 105.45 , 76.35 , 96.95 2020-12-09T06:31:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.08 , -0.27 , -0.14 2020-12-09T06:31:11Z- waiting for 1607495471.64, time is 1607495471.85 2020-12-09T06:31:11Z- sync is 0.03, coherence is 2.00 2020-12-09T06:31:11Z- LcmTrn::updateTrn() >>>> pose time 1607495471.82, meas time 1607495471.85 <<<< 2020-12-09T06:31:11Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495471.85 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:31:11Z- TerrainNav::motionUpdate() - currEstimate = (4061674, 594668.74, 6.36) 2020-12-09T06:31:11Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:31:11Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:31:11Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:31:11Z- TNavBF::mmse selected from filter -1 2020-12-09T06:31:11Z- variances([0], [2], and psi_berg) = 825.343376 833.191168 0.000000 2020-12-09T06:31:11Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:31:11Z- LcmTrn::cycle() - MLE : 4061635.83 594619.24 6.36 2020-12-09T06:31:11Z- LcmTrn::cycle() - MMSE : 4061674.33 594668.74 6.36 2020-12-09T06:31:11Z- LcmTrn::cycle() - COVAR: 825.34 833.19 27.95 0.00 2020-12-09T06:31:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495471.86 epoch sec; seqNo:229; 4061673.95 north; 594668.74 east 2020-12-09T06:31:11Z- waiting for 1607495474.85, time is 1607495471.85 2020-12-09T06:31:11Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:12Z- AHRS_M2 msg: 1607495472.22 epoch sec; seqNo:216 2020-12-09T06:31:12Z- AHRS_M2 msg: 4.57 phi; -0.22 theta; -0.28 psi 2020-12-09T06:31:12Z- waiting for 1607495474.85, time is 1607495471.85 2020-12-09T06:31:12Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:12Z- handleDepth()-Depth_Keller msg: 6.40 epoch sec; seqNo:1607495472231; depth 0.00 2020-12-09T06:31:12Z- waiting for 1607495474.85, time is 1607495471.85 2020-12-09T06:31:12Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:12Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:12Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:12Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:12Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:31:12Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:31:12Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:31:12Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:31:12Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:31:12Z- handleDvl() - RDI_Pathfinder msg: 1607495472.23 epoch sec; seqNo:114 2020-12-09T06:31:12Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:31:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.08 , -0.27 , -0.14 2020-12-09T06:31:12Z- waiting for 1607495474.85, time is 1607495472.23 2020-12-09T06:31:12Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495472.25 epoch sec; seqNo:230; 4061673.95 north; 594668.74 east 2020-12-09T06:31:12Z- waiting for 1607495474.85, time is 1607495472.23 2020-12-09T06:31:12Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:12Z- handleDepth()-Depth_Keller msg: 6.44 epoch sec; seqNo:1607495472664; depth 0.00 2020-12-09T06:31:12Z- waiting for 1607495474.85, time is 1607495472.23 2020-12-09T06:31:12Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:12Z- handleDvl() - RDI_Pathfinder msg: 1607495472.69 epoch sec; seqNo:115 2020-12-09T06:31:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.18 , 105.32 , 77.17 , 101.67 2020-12-09T06:31:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.30 , -0.36 , -0.60 2020-12-09T06:31:12Z- waiting for 1607495474.85, time is 1607495472.69 2020-12-09T06:31:12Z- sync is 0.44, coherence is 2.00 2020-12-09T06:31:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495472.70 epoch sec; seqNo:231; 4061673.57 north; 594668.75 east 2020-12-09T06:31:12Z- waiting for 1607495474.85, time is 1607495472.69 2020-12-09T06:31:12Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:13Z- AHRS_M2 msg: 1607495473.03 epoch sec; seqNo:217 2020-12-09T06:31:13Z- AHRS_M2 msg: 4.59 phi; -0.22 theta; -0.27 psi 2020-12-09T06:31:13Z- waiting for 1607495474.85, time is 1607495472.69 2020-12-09T06:31:13Z- sync is 0.34, coherence is 2.00 2020-12-09T06:31:13Z- handleDepth()-Depth_Keller msg: 6.48 epoch sec; seqNo:1607495473037; depth 0.00 2020-12-09T06:31:13Z- waiting for 1607495474.85, time is 1607495472.69 2020-12-09T06:31:13Z- sync is 0.34, coherence is 2.00 2020-12-09T06:31:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495473.05 epoch sec; seqNo:232; 4061673.57 north; 594668.75 east 2020-12-09T06:31:13Z- waiting for 1607495474.85, time is 1607495472.69 2020-12-09T06:31:13Z- sync is 0.36, coherence is 2.00 2020-12-09T06:31:13Z- AHRS_M2 msg: 1607495473.44 epoch sec; seqNo:218 2020-12-09T06:31:13Z- AHRS_M2 msg: 4.60 phi; -0.23 theta; -0.25 psi 2020-12-09T06:31:13Z- waiting for 1607495474.85, time is 1607495472.69 2020-12-09T06:31:13Z- sync is 0.75, coherence is 2.00 2020-12-09T06:31:13Z- handleDepth()-Depth_Keller msg: 6.49 epoch sec; seqNo:1607495473453; depth 0.00 2020-12-09T06:31:13Z- waiting for 1607495474.85, time is 1607495472.69 2020-12-09T06:31:13Z- sync is 0.75, coherence is 2.00 2020-12-09T06:31:13Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:13Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:13Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:13Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:31:13Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:31:13Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:31:13Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:31:13Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:31:13Z- handleDvl() - RDI_Pathfinder msg: 1607495473.45 epoch sec; seqNo:116 2020-12-09T06:31:13Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:31:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.30 , -0.36 , -0.60 2020-12-09T06:31:13Z- waiting for 1607495474.85, time is 1607495473.45 2020-12-09T06:31:13Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495473.46 epoch sec; seqNo:233; 4061673.19 north; 594668.75 east 2020-12-09T06:31:13Z- waiting for 1607495474.85, time is 1607495473.45 2020-12-09T06:31:13Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:13Z- AHRS_M2 msg: 1607495473.84 epoch sec; seqNo:219 2020-12-09T06:31:13Z- AHRS_M2 msg: 4.61 phi; -0.22 theta; -0.23 psi 2020-12-09T06:31:13Z- waiting for 1607495474.85, time is 1607495473.45 2020-12-09T06:31:13Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:13Z- handleDepth()-Depth_Keller msg: 6.55 epoch sec; seqNo:1607495473850; depth 0.00 2020-12-09T06:31:13Z- waiting for 1607495474.85, time is 1607495473.45 2020-12-09T06:31:13Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:13Z- handleDvl() - RDI_Pathfinder msg: 1607495473.86 epoch sec; seqNo:117 2020-12-09T06:31:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.18 , 96.68 , 74.72 , 100.32 2020-12-09T06:31:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.22 , -0.88 2020-12-09T06:31:13Z- waiting for 1607495474.85, time is 1607495473.86 2020-12-09T06:31:13Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495473.87 epoch sec; seqNo:234; 4061673.18 north; 594667.53 east 2020-12-09T06:31:13Z- waiting for 1607495474.85, time is 1607495473.86 2020-12-09T06:31:13Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:14Z- AHRS_M2 msg: 1607495474.24 epoch sec; seqNo:220 2020-12-09T06:31:14Z- AHRS_M2 msg: 4.62 phi; -0.22 theta; -0.21 psi 2020-12-09T06:31:14Z- waiting for 1607495474.85, time is 1607495473.86 2020-12-09T06:31:14Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:14Z- handleDepth()-Depth_Keller msg: 6.60 epoch sec; seqNo:1607495474246; depth 0.00 2020-12-09T06:31:14Z- waiting for 1607495474.85, time is 1607495473.86 2020-12-09T06:31:14Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495474.27 epoch sec; seqNo:235; 4061672.80 north; 594667.54 east 2020-12-09T06:31:14Z- waiting for 1607495474.85, time is 1607495473.86 2020-12-09T06:31:14Z- sync is 0.41, coherence is 2.00 2020-12-09T06:31:14Z- AHRS_M2 msg: 1607495474.64 epoch sec; seqNo:221 2020-12-09T06:31:14Z- AHRS_M2 msg: 4.63 phi; -0.21 theta; -0.19 psi 2020-12-09T06:31:14Z- waiting for 1607495474.85, time is 1607495473.86 2020-12-09T06:31:14Z- sync is 0.78, coherence is 2.00 2020-12-09T06:31:14Z- handleDepth()-Depth_Keller msg: 6.65 epoch sec; seqNo:1607495474650; depth 0.00 2020-12-09T06:31:14Z- waiting for 1607495474.85, time is 1607495473.86 2020-12-09T06:31:14Z- sync is 0.78, coherence is 2.00 2020-12-09T06:31:14Z- handleDvl() - RDI_Pathfinder msg: 1607495474.66 epoch sec; seqNo:118 2020-12-09T06:31:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.55 , 96.95 , 71.45 , 95.73 2020-12-09T06:31:14Z- handleDvl() - RDI_Pathfinder msg: velocities 1.20 , 0.08 , -0.95 2020-12-09T06:31:14Z- waiting for 1607495474.85, time is 1607495474.66 2020-12-09T06:31:14Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495474.70 epoch sec; seqNo:236; 4061672.80 north; 594667.54 east 2020-12-09T06:31:14Z- waiting for 1607495474.85, time is 1607495474.66 2020-12-09T06:31:14Z- sync is 0.03, coherence is 2.00 2020-12-09T06:31:15Z- AHRS_M2 msg: 1607495475.05 epoch sec; seqNo:222 2020-12-09T06:31:15Z- AHRS_M2 msg: 4.64 phi; -0.20 theta; -0.18 psi 2020-12-09T06:31:15Z- waiting for 1607495474.85, time is 1607495474.66 2020-12-09T06:31:15Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:15Z- handleDepth()-Depth_Keller msg: 6.69 epoch sec; seqNo:1607495475054; depth 0.00 2020-12-09T06:31:15Z- waiting for 1607495474.85, time is 1607495474.66 2020-12-09T06:31:15Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495475.11 epoch sec; seqNo:237; 4061672.79 north; 594666.32 east 2020-12-09T06:31:15Z- waiting for 1607495474.85, time is 1607495474.66 2020-12-09T06:31:15Z- sync is 0.45, coherence is 2.00 2020-12-09T06:31:15Z- AHRS_M2 msg: 1607495475.45 epoch sec; seqNo:223 2020-12-09T06:31:15Z- AHRS_M2 msg: 4.65 phi; -0.20 theta; -0.17 psi 2020-12-09T06:31:15Z- waiting for 1607495474.85, time is 1607495474.66 2020-12-09T06:31:15Z- sync is 0.79, coherence is 2.00 2020-12-09T06:31:15Z- handleDepth()-Depth_Keller msg: 6.74 epoch sec; seqNo:1607495475462; depth 0.00 2020-12-09T06:31:15Z- waiting for 1607495474.85, time is 1607495474.66 2020-12-09T06:31:15Z- sync is 0.79, coherence is 2.00 2020-12-09T06:31:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495475.48 epoch sec; seqNo:238; 4061672.41 north; 594666.32 east 2020-12-09T06:31:15Z- waiting for 1607495474.85, time is 1607495474.66 2020-12-09T06:31:15Z- sync is 0.82, coherence is 2.00 2020-12-09T06:31:15Z- AHRS_M2 msg: 1607495475.86 epoch sec; seqNo:224 2020-12-09T06:31:15Z- AHRS_M2 msg: 4.65 phi; -0.19 theta; -0.16 psi 2020-12-09T06:31:15Z- waiting for 1607495474.85, time is 1607495474.66 2020-12-09T06:31:15Z- sync is 1.19, coherence is 2.00 2020-12-09T06:31:15Z- handleDepth()-Depth_Keller msg: 6.78 epoch sec; seqNo:1607495475863; depth 0.00 2020-12-09T06:31:15Z- waiting for 1607495474.85, time is 1607495474.66 2020-12-09T06:31:15Z- sync is 1.19, coherence is 2.00 2020-12-09T06:31:15Z- handleDvl() - RDI_Pathfinder msg: 1607495475.89 epoch sec; seqNo:119 2020-12-09T06:31:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.37 , 93.50 , 69.82 , 98.37 2020-12-09T06:31:15Z- handleDvl() - RDI_Pathfinder msg: velocities 1.62 , 0.30 , -0.76 2020-12-09T06:31:15Z- waiting for 1607495474.85, time is 1607495475.89 2020-12-09T06:31:15Z- sync is 0.03, coherence is 2.00 2020-12-09T06:31:15Z- LcmTrn::updateTrn() >>>> pose time 1607495475.86, meas time 1607495475.89 <<<< 2020-12-09T06:31:15Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495475.89 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:31:15Z- TerrainNav::motionUpdate() - currEstimate = (4061672, 594666.32, 6.78) 2020-12-09T06:31:15Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:31:15Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:31:15Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:31:15Z- TNavBF::mmse selected from filter -1 2020-12-09T06:31:15Z- variances([0], [2], and psi_berg) = 824.947473 833.188864 0.000000 2020-12-09T06:31:15Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:31:15Z- LcmTrn::cycle() - MLE : 4061633.91 594617.82 6.78 2020-12-09T06:31:15Z- LcmTrn::cycle() - MMSE : 4061672.41 594666.32 6.78 2020-12-09T06:31:15Z- LcmTrn::cycle() - COVAR: 824.95 833.19 28.11 0.00 2020-12-09T06:31:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495475.90 epoch sec; seqNo:239; 4061672.78 north; 594665.09 east 2020-12-09T06:31:15Z- waiting for 1607495478.89, time is 1607495475.89 2020-12-09T06:31:15Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:16Z- AHRS_M2 msg: 1607495476.27 epoch sec; seqNo:225 2020-12-09T06:31:16Z- AHRS_M2 msg: 4.65 phi; -0.16 theta; -0.16 psi 2020-12-09T06:31:16Z- waiting for 1607495478.89, time is 1607495475.89 2020-12-09T06:31:16Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:16Z- handleDepth()-Depth_Keller msg: 6.84 epoch sec; seqNo:1607495476271; depth 0.00 2020-12-09T06:31:16Z- waiting for 1607495478.89, time is 1607495475.89 2020-12-09T06:31:16Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495476.30 epoch sec; seqNo:240; 4061672.78 north; 594665.09 east 2020-12-09T06:31:16Z- waiting for 1607495478.89, time is 1607495475.89 2020-12-09T06:31:16Z- sync is 0.41, coherence is 2.00 2020-12-09T06:31:16Z- AHRS_M2 msg: 1607495476.67 epoch sec; seqNo:226 2020-12-09T06:31:16Z- AHRS_M2 msg: 4.64 phi; -0.15 theta; -0.17 psi 2020-12-09T06:31:16Z- waiting for 1607495478.89, time is 1607495475.89 2020-12-09T06:31:16Z- sync is 0.78, coherence is 2.00 2020-12-09T06:31:16Z- handleDepth()-Depth_Keller msg: 6.90 epoch sec; seqNo:1607495476674; depth 0.00 2020-12-09T06:31:16Z- waiting for 1607495478.89, time is 1607495475.89 2020-12-09T06:31:16Z- sync is 0.78, coherence is 2.00 2020-12-09T06:31:16Z- handleDvl() - RDI_Pathfinder msg: 1607495476.69 epoch sec; seqNo:120 2020-12-09T06:31:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.96 , 91.07 , 69.41 , 0.00 2020-12-09T06:31:16Z- handleDvl() - RDI_Pathfinder msg: velocities 1.82 , 0.34 , -0.37 2020-12-09T06:31:16Z- waiting for 1607495478.89, time is 1607495476.69 2020-12-09T06:31:16Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495476.70 epoch sec; seqNo:241; 4061672.76 north; 594663.87 east 2020-12-09T06:31:16Z- waiting for 1607495478.89, time is 1607495476.69 2020-12-09T06:31:16Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:17Z- AHRS_M2 msg: 1607495477.07 epoch sec; seqNo:227 2020-12-09T06:31:17Z- AHRS_M2 msg: 4.64 phi; -0.14 theta; -0.18 psi 2020-12-09T06:31:17Z- waiting for 1607495478.89, time is 1607495476.69 2020-12-09T06:31:17Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:17Z- handleDepth()-Depth_Keller msg: 6.96 epoch sec; seqNo:1607495477082; depth 0.00 2020-12-09T06:31:17Z- waiting for 1607495478.89, time is 1607495476.69 2020-12-09T06:31:17Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:17Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:17Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:17Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:17Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:31:17Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:31:17Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:31:17Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:31:17Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:31:17Z- handleDvl() - RDI_Pathfinder msg: 1607495477.08 epoch sec; seqNo:121 2020-12-09T06:31:17Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:31:17Z- handleDvl() - RDI_Pathfinder msg: velocities 1.82 , 0.34 , -0.37 2020-12-09T06:31:17Z- waiting for 1607495478.89, time is 1607495477.08 2020-12-09T06:31:17Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495477.10 epoch sec; seqNo:242; 4061672.75 north; 594662.65 east 2020-12-09T06:31:17Z- waiting for 1607495478.89, time is 1607495477.08 2020-12-09T06:31:17Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:17Z- AHRS_M2 msg: 1607495477.47 epoch sec; seqNo:228 2020-12-09T06:31:17Z- AHRS_M2 msg: 4.63 phi; -0.13 theta; -0.19 psi 2020-12-09T06:31:17Z- waiting for 1607495478.89, time is 1607495477.08 2020-12-09T06:31:17Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:17Z- handleDepth()-Depth_Keller msg: 7.02 epoch sec; seqNo:1607495477494; depth 0.00 2020-12-09T06:31:17Z- waiting for 1607495478.89, time is 1607495477.08 2020-12-09T06:31:17Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495477.51 epoch sec; seqNo:243; 4061672.75 north; 594662.65 east 2020-12-09T06:31:17Z- waiting for 1607495478.89, time is 1607495477.08 2020-12-09T06:31:17Z- sync is 0.43, coherence is 2.00 2020-12-09T06:31:17Z- AHRS_M2 msg: 1607495477.88 epoch sec; seqNo:229 2020-12-09T06:31:17Z- AHRS_M2 msg: 4.62 phi; -0.12 theta; -0.20 psi 2020-12-09T06:31:17Z- waiting for 1607495478.89, time is 1607495477.08 2020-12-09T06:31:17Z- sync is 0.79, coherence is 2.00 2020-12-09T06:31:17Z- handleDepth()-Depth_Keller msg: 7.07 epoch sec; seqNo:1607495477882; depth 0.00 2020-12-09T06:31:17Z- waiting for 1607495478.89, time is 1607495477.08 2020-12-09T06:31:17Z- sync is 0.79, coherence is 2.00 2020-12-09T06:31:17Z- handleDvl() - RDI_Pathfinder msg: 1607495477.89 epoch sec; seqNo:122 2020-12-09T06:31:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.55 , 97.89 , 69.41 , 89.25 2020-12-09T06:31:17Z- handleDvl() - RDI_Pathfinder msg: velocities 1.86 , 0.35 , 0.11 2020-12-09T06:31:17Z- waiting for 1607495478.89, time is 1607495477.89 2020-12-09T06:31:17Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495477.92 epoch sec; seqNo:244; 4061672.73 north; 594661.43 east 2020-12-09T06:31:17Z- waiting for 1607495478.89, time is 1607495477.89 2020-12-09T06:31:17Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:18Z- AHRS_M2 msg: 1607495478.28 epoch sec; seqNo:230 2020-12-09T06:31:18Z- AHRS_M2 msg: 4.61 phi; -0.12 theta; -0.20 psi 2020-12-09T06:31:18Z- waiting for 1607495478.89, time is 1607495477.89 2020-12-09T06:31:18Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:18Z- handleDepth()-Depth_Keller msg: 7.14 epoch sec; seqNo:1607495478286; depth 0.00 2020-12-09T06:31:18Z- waiting for 1607495478.89, time is 1607495477.89 2020-12-09T06:31:18Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:18Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:18Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:18Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:18Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:31:18Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:31:18Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:31:18Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:31:18Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:31:18Z- handleDvl() - RDI_Pathfinder msg: 1607495478.29 epoch sec; seqNo:123 2020-12-09T06:31:18Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:31:18Z- handleDvl() - RDI_Pathfinder msg: velocities 1.86 , 0.35 , 0.11 2020-12-09T06:31:18Z- waiting for 1607495478.89, time is 1607495478.29 2020-12-09T06:31:18Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495478.30 epoch sec; seqNo:245; 4061672.72 north; 594660.21 east 2020-12-09T06:31:18Z- waiting for 1607495478.89, time is 1607495478.29 2020-12-09T06:31:18Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:18Z- AHRS_M2 msg: 1607495478.69 epoch sec; seqNo:231 2020-12-09T06:31:18Z- AHRS_M2 msg: 4.60 phi; -0.12 theta; -0.21 psi 2020-12-09T06:31:18Z- waiting for 1607495478.89, time is 1607495478.29 2020-12-09T06:31:18Z- sync is 0.40, coherence is 2.00 2020-12-09T06:31:18Z- handleDepth()-Depth_Keller msg: 7.20 epoch sec; seqNo:1607495478694; depth 0.00 2020-12-09T06:31:18Z- waiting for 1607495478.89, time is 1607495478.29 2020-12-09T06:31:18Z- sync is 0.40, coherence is 2.00 2020-12-09T06:31:18Z- handleDvl() - RDI_Pathfinder msg: 1607495478.71 epoch sec; seqNo:124 2020-12-09T06:31:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.96 , 94.58 , 69.82 , 88.10 2020-12-09T06:31:18Z- handleDvl() - RDI_Pathfinder msg: velocities 1.69 , 0.31 , 0.53 2020-12-09T06:31:18Z- waiting for 1607495478.89, time is 1607495478.71 2020-12-09T06:31:18Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495478.72 epoch sec; seqNo:246; 4061673.10 north; 594660.21 east 2020-12-09T06:31:18Z- waiting for 1607495478.89, time is 1607495478.71 2020-12-09T06:31:18Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:19Z- AHRS_M2 msg: 1607495479.09 epoch sec; seqNo:232 2020-12-09T06:31:19Z- AHRS_M2 msg: 4.58 phi; -0.12 theta; -0.21 psi 2020-12-09T06:31:19Z- waiting for 1607495478.89, time is 1607495478.71 2020-12-09T06:31:19Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:19Z- handleDepth()-Depth_Keller msg: 7.27 epoch sec; seqNo:1607495479103; depth 0.00 2020-12-09T06:31:19Z- waiting for 1607495478.89, time is 1607495478.71 2020-12-09T06:31:19Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495479.12 epoch sec; seqNo:247; 4061673.09 north; 594658.99 east 2020-12-09T06:31:19Z- waiting for 1607495478.89, time is 1607495478.71 2020-12-09T06:31:19Z- sync is 0.41, coherence is 2.00 2020-12-09T06:31:19Z- AHRS_M2 msg: 1607495479.49 epoch sec; seqNo:233 2020-12-09T06:31:19Z- AHRS_M2 msg: 4.57 phi; -0.12 theta; -0.21 psi 2020-12-09T06:31:19Z- waiting for 1607495478.89, time is 1607495478.71 2020-12-09T06:31:19Z- sync is 0.79, coherence is 2.00 2020-12-09T06:31:19Z- handleDepth()-Depth_Keller msg: 7.35 epoch sec; seqNo:1607495479500; depth 0.00 2020-12-09T06:31:19Z- waiting for 1607495478.89, time is 1607495478.71 2020-12-09T06:31:19Z- sync is 0.79, coherence is 2.00 2020-12-09T06:31:19Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:19Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:19Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:19Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:31:19Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:31:19Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:31:19Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:31:19Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:31:19Z- handleDvl() - RDI_Pathfinder msg: 1607495479.50 epoch sec; seqNo:125 2020-12-09T06:31:19Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:31:19Z- handleDvl() - RDI_Pathfinder msg: velocities 1.69 , 0.31 , 0.53 2020-12-09T06:31:19Z- waiting for 1607495478.89, time is 1607495479.50 2020-12-09T06:31:19Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:19Z- LcmTrn::updateTrn() >>>> pose time 1607495479.49, meas time 1607495479.50 <<<< 2020-12-09T06:31:19Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495479.50, ping # 0. 2020-12-09T06:31:19Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495479.50 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:31:19Z- TerrainNav::motionUpdate() - currEstimate = (4061673, 594658.99, 7.35) 2020-12-09T06:31:19Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:31:19Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:31:19Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:31:19Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:31:19Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:31:19Z- TNavBF::mmse selected from filter -1 2020-12-09T06:31:19Z- variances([0], [2], and psi_berg) = 824.343867 833.185426 0.000000 2020-12-09T06:31:19Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:31:19Z- LcmTrn::cycle() - MLE : 4061634.59 594610.49 7.35 2020-12-09T06:31:19Z- LcmTrn::cycle() - MMSE : 4061673.09 594658.99 7.35 2020-12-09T06:31:19Z- LcmTrn::cycle() - COVAR: 824.34 833.19 28.49 0.00 2020-12-09T06:31:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495479.51 epoch sec; seqNo:248; 4061673.09 north; 594658.99 east 2020-12-09T06:31:19Z- waiting for 1607495482.50, time is 1607495479.50 2020-12-09T06:31:19Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:19Z- AHRS_M2 msg: 1607495479.90 epoch sec; seqNo:234 2020-12-09T06:31:19Z- AHRS_M2 msg: 4.56 phi; -0.12 theta; -0.21 psi 2020-12-09T06:31:19Z- waiting for 1607495482.50, time is 1607495479.50 2020-12-09T06:31:19Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:19Z- handleDepth()-Depth_Keller msg: 7.40 epoch sec; seqNo:1607495479906; depth 0.00 2020-12-09T06:31:19Z- waiting for 1607495482.50, time is 1607495479.50 2020-12-09T06:31:19Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:19Z- handleDvl() - RDI_Pathfinder msg: 1607495479.92 epoch sec; seqNo:126 2020-12-09T06:31:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.55 , 94.65 , 70.23 , 0.00 2020-12-09T06:31:19Z- handleDvl() - RDI_Pathfinder msg: velocities 1.48 , 0.37 , 0.80 2020-12-09T06:31:19Z- waiting for 1607495482.50, time is 1607495479.92 2020-12-09T06:31:19Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495479.93 epoch sec; seqNo:249; 4061673.07 north; 594657.77 east 2020-12-09T06:31:19Z- waiting for 1607495482.50, time is 1607495479.92 2020-12-09T06:31:19Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:20Z- AHRS_M2 msg: 1607495480.30 epoch sec; seqNo:235 2020-12-09T06:31:20Z- AHRS_M2 msg: 4.55 phi; -0.12 theta; -0.21 psi 2020-12-09T06:31:20Z- waiting for 1607495482.50, time is 1607495479.92 2020-12-09T06:31:20Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:20Z- handleDepth()-Depth_Keller msg: 7.48 epoch sec; seqNo:1607495480318; depth 0.00 2020-12-09T06:31:20Z- waiting for 1607495482.50, time is 1607495479.92 2020-12-09T06:31:20Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495480.33 epoch sec; seqNo:250; 4061673.45 north; 594657.76 east 2020-12-09T06:31:20Z- waiting for 1607495482.50, time is 1607495479.92 2020-12-09T06:31:20Z- sync is 0.41, coherence is 2.00 2020-12-09T06:31:20Z- AHRS_M2 msg: 1607495480.70 epoch sec; seqNo:236 2020-12-09T06:31:20Z- AHRS_M2 msg: 4.54 phi; -0.12 theta; -0.21 psi 2020-12-09T06:31:20Z- waiting for 1607495482.50, time is 1607495479.92 2020-12-09T06:31:20Z- sync is 0.79, coherence is 2.00 2020-12-09T06:31:20Z- handleDepth()-Depth_Keller msg: 7.53 epoch sec; seqNo:1607495480710; depth 0.00 2020-12-09T06:31:20Z- waiting for 1607495482.50, time is 1607495479.92 2020-12-09T06:31:20Z- sync is 0.79, coherence is 2.00 2020-12-09T06:31:20Z- handleDvl() - RDI_Pathfinder msg: 1607495480.73 epoch sec; seqNo:127 2020-12-09T06:31:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.96 , 94.65 , 71.45 , 89.25 2020-12-09T06:31:20Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.32 , 0.91 2020-12-09T06:31:20Z- waiting for 1607495482.50, time is 1607495480.73 2020-12-09T06:31:20Z- sync is 0.03, coherence is 2.00 2020-12-09T06:31:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495480.74 epoch sec; seqNo:251; 4061673.44 north; 594656.54 east 2020-12-09T06:31:20Z- waiting for 1607495482.50, time is 1607495480.73 2020-12-09T06:31:20Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:21Z- AHRS_M2 msg: 1607495481.11 epoch sec; seqNo:237 2020-12-09T06:31:21Z- AHRS_M2 msg: 4.53 phi; -0.13 theta; -0.22 psi 2020-12-09T06:31:21Z- waiting for 1607495482.50, time is 1607495480.73 2020-12-09T06:31:21Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:21Z- handleDepth()-Depth_Keller msg: 7.61 epoch sec; seqNo:1607495481117; depth 0.00 2020-12-09T06:31:21Z- waiting for 1607495482.50, time is 1607495480.73 2020-12-09T06:31:21Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495481.13 epoch sec; seqNo:252; 4061673.44 north; 594656.54 east 2020-12-09T06:31:21Z- waiting for 1607495482.50, time is 1607495480.73 2020-12-09T06:31:21Z- sync is 0.40, coherence is 2.00 2020-12-09T06:31:21Z- AHRS_M2 msg: 1607495481.52 epoch sec; seqNo:238 2020-12-09T06:31:21Z- AHRS_M2 msg: 4.52 phi; -0.13 theta; -0.22 psi 2020-12-09T06:31:21Z- waiting for 1607495482.50, time is 1607495480.73 2020-12-09T06:31:21Z- sync is 0.78, coherence is 2.00 2020-12-09T06:31:21Z- handleDepth()-Depth_Keller msg: 7.65 epoch sec; seqNo:1607495481520; depth 0.00 2020-12-09T06:31:21Z- waiting for 1607495482.50, time is 1607495480.73 2020-12-09T06:31:21Z- sync is 0.78, coherence is 2.00 2020-12-09T06:31:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495481.53 epoch sec; seqNo:253; 4061673.82 north; 594656.54 east 2020-12-09T06:31:21Z- waiting for 1607495482.50, time is 1607495480.73 2020-12-09T06:31:21Z- sync is 0.80, coherence is 2.00 2020-12-09T06:31:21Z- AHRS_M2 msg: 1607495481.92 epoch sec; seqNo:239 2020-12-09T06:31:21Z- AHRS_M2 msg: 4.52 phi; -0.13 theta; -0.23 psi 2020-12-09T06:31:21Z- waiting for 1607495482.50, time is 1607495480.73 2020-12-09T06:31:21Z- sync is 1.19, coherence is 2.00 2020-12-09T06:31:21Z- handleDepth()-Depth_Keller msg: 7.71 epoch sec; seqNo:1607495481922; depth 0.00 2020-12-09T06:31:21Z- waiting for 1607495482.50, time is 1607495480.73 2020-12-09T06:31:21Z- sync is 1.19, coherence is 2.00 2020-12-09T06:31:21Z- handleDvl() - RDI_Pathfinder msg: 1607495481.95 epoch sec; seqNo:128 2020-12-09T06:31:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.78 , 96.81 , 72.27 , 91.41 2020-12-09T06:31:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.65 , 0.20 , 0.83 2020-12-09T06:31:21Z- waiting for 1607495482.50, time is 1607495481.95 2020-12-09T06:31:21Z- sync is 0.03, coherence is 2.00 2020-12-09T06:31:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495481.97 epoch sec; seqNo:254; 4061673.82 north; 594656.54 east 2020-12-09T06:31:21Z- waiting for 1607495482.50, time is 1607495481.95 2020-12-09T06:31:21Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:22Z- AHRS_M2 msg: 1607495482.32 epoch sec; seqNo:240 2020-12-09T06:31:22Z- AHRS_M2 msg: 4.51 phi; -0.13 theta; -0.24 psi 2020-12-09T06:31:22Z- waiting for 1607495482.50, time is 1607495481.95 2020-12-09T06:31:22Z- sync is 0.37, coherence is 2.00 2020-12-09T06:31:22Z- handleDepth()-Depth_Keller msg: 7.75 epoch sec; seqNo:1607495482334; depth 0.00 2020-12-09T06:31:22Z- waiting for 1607495482.50, time is 1607495481.95 2020-12-09T06:31:22Z- sync is 0.37, coherence is 2.00 2020-12-09T06:31:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495482.35 epoch sec; seqNo:255; 4061673.80 north; 594655.32 east 2020-12-09T06:31:22Z- waiting for 1607495482.50, time is 1607495481.95 2020-12-09T06:31:22Z- sync is 0.40, coherence is 2.00 2020-12-09T06:31:22Z- AHRS_M2 msg: 1607495482.73 epoch sec; seqNo:241 2020-12-09T06:31:22Z- AHRS_M2 msg: 4.51 phi; -0.13 theta; -0.25 psi 2020-12-09T06:31:22Z- waiting for 1607495482.50, time is 1607495481.95 2020-12-09T06:31:22Z- sync is 0.78, coherence is 2.00 2020-12-09T06:31:22Z- handleDepth()-Depth_Keller msg: 7.81 epoch sec; seqNo:1607495482736; depth 0.00 2020-12-09T06:31:22Z- waiting for 1607495482.50, time is 1607495481.95 2020-12-09T06:31:22Z- sync is 0.78, coherence is 2.00 2020-12-09T06:31:22Z- handleDvl() - RDI_Pathfinder msg: 1607495482.75 epoch sec; seqNo:129 2020-12-09T06:31:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.37 , 99.92 , 79.39 , 92.36 2020-12-09T06:31:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.34 , -0.05 , 0.63 2020-12-09T06:31:22Z- waiting for 1607495482.50, time is 1607495482.75 2020-12-09T06:31:22Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:22Z- LcmTrn::updateTrn() >>>> pose time 1607495482.73, meas time 1607495482.75 <<<< 2020-12-09T06:31:22Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495482.75 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:31:22Z- TerrainNav::motionUpdate() - currEstimate = (4061674, 594655.32, 7.81) 2020-12-09T06:31:22Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:31:22Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:31:22Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:31:22Z- TNavBF::mmse selected from filter -1 2020-12-09T06:31:22Z- variances([0], [2], and psi_berg) = 823.921865 833.183101 0.000000 2020-12-09T06:31:22Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:31:22Z- LcmTrn::cycle() - MLE : 4061635.30 594607.82 7.81 2020-12-09T06:31:22Z- LcmTrn::cycle() - MMSE : 4061673.80 594655.32 7.81 2020-12-09T06:31:22Z- LcmTrn::cycle() - COVAR: 823.92 833.18 28.68 0.00 2020-12-09T06:31:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495482.77 epoch sec; seqNo:256; 4061673.80 north; 594655.32 east 2020-12-09T06:31:22Z- waiting for 1607495485.75, time is 1607495482.75 2020-12-09T06:31:22Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:23Z- AHRS_M2 msg: 1607495483.13 epoch sec; seqNo:242 2020-12-09T06:31:23Z- AHRS_M2 msg: 4.51 phi; -0.13 theta; -0.25 psi 2020-12-09T06:31:23Z- waiting for 1607495485.75, time is 1607495482.75 2020-12-09T06:31:23Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:23Z- handleDepth()-Depth_Keller msg: 7.86 epoch sec; seqNo:1607495483135; depth 0.00 2020-12-09T06:31:23Z- waiting for 1607495485.75, time is 1607495482.75 2020-12-09T06:31:23Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:23Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:23Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:23Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:23Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:31:23Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:31:23Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:31:23Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:31:23Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:31:23Z- handleDvl() - RDI_Pathfinder msg: 1607495483.14 epoch sec; seqNo:130 2020-12-09T06:31:23Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:31:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.34 , -0.05 , 0.63 2020-12-09T06:31:23Z- waiting for 1607495485.75, time is 1607495483.14 2020-12-09T06:31:23Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495483.15 epoch sec; seqNo:257; 4061673.80 north; 594655.32 east 2020-12-09T06:31:23Z- waiting for 1607495485.75, time is 1607495483.14 2020-12-09T06:31:23Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:23Z- AHRS_M2 msg: 1607495483.53 epoch sec; seqNo:243 2020-12-09T06:31:23Z- AHRS_M2 msg: 4.51 phi; -0.13 theta; -0.26 psi 2020-12-09T06:31:23Z- waiting for 1607495485.75, time is 1607495483.14 2020-12-09T06:31:23Z- sync is 0.40, coherence is 2.00 2020-12-09T06:31:23Z- handleDepth()-Depth_Keller msg: 7.90 epoch sec; seqNo:1607495483540; depth 0.00 2020-12-09T06:31:23Z- waiting for 1607495485.75, time is 1607495483.14 2020-12-09T06:31:23Z- sync is 0.40, coherence is 2.00 2020-12-09T06:31:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495483.56 epoch sec; seqNo:258; 4061673.80 north; 594655.32 east 2020-12-09T06:31:23Z- waiting for 1607495485.75, time is 1607495483.14 2020-12-09T06:31:23Z- sync is 0.42, coherence is 2.00 2020-12-09T06:31:23Z- AHRS_M2 msg: 1607495483.94 epoch sec; seqNo:244 2020-12-09T06:31:23Z- AHRS_M2 msg: 4.52 phi; -0.13 theta; -0.26 psi 2020-12-09T06:31:23Z- waiting for 1607495485.75, time is 1607495483.14 2020-12-09T06:31:23Z- sync is 0.80, coherence is 2.00 2020-12-09T06:31:23Z- handleDepth()-Depth_Keller msg: 7.95 epoch sec; seqNo:1607495483942; depth 0.00 2020-12-09T06:31:23Z- waiting for 1607495485.75, time is 1607495483.14 2020-12-09T06:31:23Z- sync is 0.80, coherence is 2.00 2020-12-09T06:31:23Z- handleDvl() - RDI_Pathfinder msg: 1607495483.95 epoch sec; seqNo:131 2020-12-09T06:31:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.18 , 101.81 , 74.31 , 93.30 2020-12-09T06:31:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.12 , -0.27 , 0.37 2020-12-09T06:31:23Z- waiting for 1607495485.75, time is 1607495483.95 2020-12-09T06:31:23Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495483.98 epoch sec; seqNo:259; 4061673.80 north; 594655.32 east 2020-12-09T06:31:23Z- waiting for 1607495485.75, time is 1607495483.95 2020-12-09T06:31:23Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:24Z- AHRS_M2 msg: 1607495484.34 epoch sec; seqNo:245 2020-12-09T06:31:24Z- AHRS_M2 msg: 4.52 phi; -0.12 theta; -0.25 psi 2020-12-09T06:31:24Z- waiting for 1607495485.75, time is 1607495483.95 2020-12-09T06:31:24Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:24Z- handleDepth()-Depth_Keller msg: 7.96 epoch sec; seqNo:1607495484350; depth 0.00 2020-12-09T06:31:24Z- waiting for 1607495485.75, time is 1607495483.95 2020-12-09T06:31:24Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:24Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:24Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:24Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:24Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:31:24Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:31:24Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:31:24Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:31:24Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:31:24Z- handleDvl() - RDI_Pathfinder msg: 1607495484.35 epoch sec; seqNo:132 2020-12-09T06:31:24Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:31:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.12 , -0.27 , 0.37 2020-12-09T06:31:24Z- waiting for 1607495485.75, time is 1607495484.35 2020-12-09T06:31:24Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495484.36 epoch sec; seqNo:260; 4061673.80 north; 594655.32 east 2020-12-09T06:31:24Z- waiting for 1607495485.75, time is 1607495484.35 2020-12-09T06:31:24Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:24Z- AHRS_M2 msg: 1607495484.75 epoch sec; seqNo:246 2020-12-09T06:31:24Z- AHRS_M2 msg: 4.53 phi; -0.12 theta; -0.25 psi 2020-12-09T06:31:24Z- waiting for 1607495485.75, time is 1607495484.35 2020-12-09T06:31:24Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:24Z- handleDepth()-Depth_Keller msg: 8.01 epoch sec; seqNo:1607495484751; depth 0.00 2020-12-09T06:31:24Z- waiting for 1607495485.75, time is 1607495484.35 2020-12-09T06:31:24Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:24Z- handleDvl() - RDI_Pathfinder msg: 1607495484.76 epoch sec; seqNo:133 2020-12-09T06:31:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.37 , 97.01 , 74.72 , 92.15 2020-12-09T06:31:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.07 , -0.33 , 0.03 2020-12-09T06:31:24Z- waiting for 1607495485.75, time is 1607495484.76 2020-12-09T06:31:24Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495484.78 epoch sec; seqNo:261; 4061673.80 north; 594655.32 east 2020-12-09T06:31:24Z- waiting for 1607495485.75, time is 1607495484.76 2020-12-09T06:31:24Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:25Z- AHRS_M2 msg: 1607495485.15 epoch sec; seqNo:247 2020-12-09T06:31:25Z- AHRS_M2 msg: 4.53 phi; -0.12 theta; -0.24 psi 2020-12-09T06:31:25Z- waiting for 1607495485.75, time is 1607495484.76 2020-12-09T06:31:25Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:25Z- handleDepth()-Depth_Keller msg: 8.02 epoch sec; seqNo:1607495485154; depth 0.00 2020-12-09T06:31:25Z- waiting for 1607495485.75, time is 1607495484.76 2020-12-09T06:31:25Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495485.17 epoch sec; seqNo:262; 4061673.43 north; 594655.32 east 2020-12-09T06:31:25Z- waiting for 1607495485.75, time is 1607495484.76 2020-12-09T06:31:25Z- sync is 0.41, coherence is 2.00 2020-12-09T06:31:25Z- AHRS_M2 msg: 1607495485.55 epoch sec; seqNo:248 2020-12-09T06:31:25Z- AHRS_M2 msg: 4.54 phi; -0.12 theta; -0.24 psi 2020-12-09T06:31:25Z- waiting for 1607495485.75, time is 1607495484.76 2020-12-09T06:31:25Z- sync is 0.79, coherence is 2.00 2020-12-09T06:31:25Z- handleDepth()-Depth_Keller msg: 8.04 epoch sec; seqNo:1607495485563; depth 0.00 2020-12-09T06:31:25Z- waiting for 1607495485.75, time is 1607495484.76 2020-12-09T06:31:25Z- sync is 0.79, coherence is 2.00 2020-12-09T06:31:25Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:25Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:25Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:25Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:31:25Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:31:25Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:31:25Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:31:25Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:31:25Z- handleDvl() - RDI_Pathfinder msg: 1607495485.57 epoch sec; seqNo:134 2020-12-09T06:31:25Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:31:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.07 , -0.33 , 0.03 2020-12-09T06:31:25Z- waiting for 1607495485.75, time is 1607495485.57 2020-12-09T06:31:25Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495485.61 epoch sec; seqNo:263; 4061673.43 north; 594655.32 east 2020-12-09T06:31:25Z- waiting for 1607495485.75, time is 1607495485.57 2020-12-09T06:31:25Z- sync is 0.04, coherence is 2.00 2020-12-09T06:31:25Z- AHRS_M2 msg: 1607495485.96 epoch sec; seqNo:249 2020-12-09T06:31:25Z- AHRS_M2 msg: 4.54 phi; -0.11 theta; -0.23 psi 2020-12-09T06:31:25Z- waiting for 1607495485.75, time is 1607495485.57 2020-12-09T06:31:25Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:25Z- handleDepth()-Depth_Keller msg: 8.06 epoch sec; seqNo:1607495485966; depth 0.00 2020-12-09T06:31:25Z- waiting for 1607495485.75, time is 1607495485.57 2020-12-09T06:31:25Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:25Z- handleDvl() - RDI_Pathfinder msg: 1607495485.98 epoch sec; seqNo:135 2020-12-09T06:31:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.37 , 99.58 , 74.31 , 98.37 2020-12-09T06:31:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.16 , -0.39 , -0.36 2020-12-09T06:31:25Z- waiting for 1607495485.75, time is 1607495485.98 2020-12-09T06:31:25Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:25Z- LcmTrn::updateTrn() >>>> pose time 1607495485.96, meas time 1607495485.98 <<<< 2020-12-09T06:31:25Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495485.98 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:31:25Z- TerrainNav::motionUpdate() - currEstimate = (4061673, 594655.32, 8.06) 2020-12-09T06:31:25Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:31:25Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:31:25Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:31:25Z- TNavBF::mmse selected from filter -1 2020-12-09T06:31:25Z- variances([0], [2], and psi_berg) = 823.789318 833.182387 0.000000 2020-12-09T06:31:25Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:31:25Z- LcmTrn::cycle() - MLE : 4061634.93 594607.82 8.06 2020-12-09T06:31:25Z- LcmTrn::cycle() - MMSE : 4061673.43 594655.32 8.06 2020-12-09T06:31:25Z- LcmTrn::cycle() - COVAR: 823.79 833.18 28.70 0.00 2020-12-09T06:31:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495486.02 epoch sec; seqNo:264; 4061673.43 north; 594655.32 east 2020-12-09T06:31:26Z- waiting for 1607495488.98, time is 1607495485.98 2020-12-09T06:31:26Z- sync is 0.04, coherence is 2.00 2020-12-09T06:31:26Z- AHRS_M2 msg: 1607495486.36 epoch sec; seqNo:250 2020-12-09T06:31:26Z- AHRS_M2 msg: 4.55 phi; -0.11 theta; -0.23 psi 2020-12-09T06:31:26Z- waiting for 1607495488.98, time is 1607495485.98 2020-12-09T06:31:26Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:26Z- handleDepth()-Depth_Keller msg: 8.08 epoch sec; seqNo:1607495486367; depth 0.00 2020-12-09T06:31:26Z- waiting for 1607495488.98, time is 1607495485.98 2020-12-09T06:31:26Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495486.38 epoch sec; seqNo:265; 4061673.05 north; 594655.33 east 2020-12-09T06:31:26Z- waiting for 1607495488.98, time is 1607495485.98 2020-12-09T06:31:26Z- sync is 0.40, coherence is 2.00 2020-12-09T06:31:26Z- AHRS_M2 msg: 1607495486.77 epoch sec; seqNo:251 2020-12-09T06:31:26Z- AHRS_M2 msg: 4.56 phi; -0.11 theta; -0.23 psi 2020-12-09T06:31:26Z- waiting for 1607495488.98, time is 1607495485.98 2020-12-09T06:31:26Z- sync is 0.79, coherence is 2.00 2020-12-09T06:31:26Z- handleDepth()-Depth_Keller msg: 8.08 epoch sec; seqNo:1607495486770; depth 0.00 2020-12-09T06:31:26Z- waiting for 1607495488.98, time is 1607495485.98 2020-12-09T06:31:26Z- sync is 0.79, coherence is 2.00 2020-12-09T06:31:26Z- handleDvl() - RDI_Pathfinder msg: 1607495486.79 epoch sec; seqNo:136 2020-12-09T06:31:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.18 , 98.16 , 73.90 , 90.87 2020-12-09T06:31:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.50 , -0.42 , -0.71 2020-12-09T06:31:26Z- waiting for 1607495488.98, time is 1607495486.79 2020-12-09T06:31:26Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495486.80 epoch sec; seqNo:266; 4061672.67 north; 594655.33 east 2020-12-09T06:31:26Z- waiting for 1607495488.98, time is 1607495486.79 2020-12-09T06:31:26Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:27Z- AHRS_M2 msg: 1607495487.17 epoch sec; seqNo:252 2020-12-09T06:31:27Z- AHRS_M2 msg: 4.56 phi; -0.10 theta; -0.23 psi 2020-12-09T06:31:27Z- waiting for 1607495488.98, time is 1607495486.79 2020-12-09T06:31:27Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:27Z- handleDepth()-Depth_Keller msg: 8.08 epoch sec; seqNo:1607495487174; depth 0.00 2020-12-09T06:31:27Z- waiting for 1607495488.98, time is 1607495486.79 2020-12-09T06:31:27Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495487.19 epoch sec; seqNo:267; 4061672.67 north; 594655.33 east 2020-12-09T06:31:27Z- waiting for 1607495488.98, time is 1607495486.79 2020-12-09T06:31:27Z- sync is 0.40, coherence is 2.00 2020-12-09T06:31:27Z- AHRS_M2 msg: 1607495487.58 epoch sec; seqNo:253 2020-12-09T06:31:27Z- AHRS_M2 msg: 4.57 phi; -0.09 theta; -0.22 psi 2020-12-09T06:31:27Z- waiting for 1607495488.98, time is 1607495486.79 2020-12-09T06:31:27Z- sync is 0.79, coherence is 2.00 2020-12-09T06:31:27Z- handleDepth()-Depth_Keller msg: 8.10 epoch sec; seqNo:1607495487590; depth 0.00 2020-12-09T06:31:27Z- waiting for 1607495488.98, time is 1607495486.79 2020-12-09T06:31:27Z- sync is 0.79, coherence is 2.00 2020-12-09T06:31:27Z- handleDvl() - RDI_Pathfinder msg: 1607495487.61 epoch sec; seqNo:137 2020-12-09T06:31:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.14 , 98.37 , 72.27 , 0.00 2020-12-09T06:31:27Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.28 , -0.95 2020-12-09T06:31:27Z- waiting for 1607495488.98, time is 1607495487.61 2020-12-09T06:31:27Z- sync is 0.04, coherence is 2.00 2020-12-09T06:31:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495487.63 epoch sec; seqNo:268; 4061672.28 north; 594654.12 east 2020-12-09T06:31:27Z- waiting for 1607495488.98, time is 1607495487.61 2020-12-09T06:31:27Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:27Z- AHRS_M2 msg: 1607495487.98 epoch sec; seqNo:254 2020-12-09T06:31:27Z- AHRS_M2 msg: 4.58 phi; -0.08 theta; -0.21 psi 2020-12-09T06:31:27Z- waiting for 1607495488.98, time is 1607495487.61 2020-12-09T06:31:27Z- sync is 0.37, coherence is 2.00 2020-12-09T06:31:27Z- handleDepth()-Depth_Keller msg: 8.10 epoch sec; seqNo:1607495487984; depth 0.00 2020-12-09T06:31:27Z- waiting for 1607495488.98, time is 1607495487.61 2020-12-09T06:31:27Z- sync is 0.37, coherence is 2.00 2020-12-09T06:31:27Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:27Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:27Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:27Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:31:27Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:31:27Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:31:27Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:31:27Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:31:27Z- handleDvl() - RDI_Pathfinder msg: 1607495487.99 epoch sec; seqNo:138 2020-12-09T06:31:27Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:31:27Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.28 , -0.95 2020-12-09T06:31:27Z- waiting for 1607495488.98, time is 1607495487.99 2020-12-09T06:31:27Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495488.00 epoch sec; seqNo:269; 4061671.90 north; 594654.12 east 2020-12-09T06:31:27Z- waiting for 1607495488.98, time is 1607495487.99 2020-12-09T06:31:27Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:28Z- AHRS_M2 msg: 1607495488.38 epoch sec; seqNo:255 2020-12-09T06:31:28Z- AHRS_M2 msg: 4.58 phi; -0.07 theta; -0.20 psi 2020-12-09T06:31:28Z- waiting for 1607495488.98, time is 1607495487.99 2020-12-09T06:31:28Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:28Z- handleDepth()-Depth_Keller msg: 8.10 epoch sec; seqNo:1607495488395; depth 0.00 2020-12-09T06:31:28Z- waiting for 1607495488.98, time is 1607495487.99 2020-12-09T06:31:28Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495488.41 epoch sec; seqNo:270; 4061671.90 north; 594654.12 east 2020-12-09T06:31:28Z- waiting for 1607495488.98, time is 1607495487.99 2020-12-09T06:31:28Z- sync is 0.42, coherence is 2.00 2020-12-09T06:31:28Z- AHRS_M2 msg: 1607495488.79 epoch sec; seqNo:256 2020-12-09T06:31:28Z- AHRS_M2 msg: 4.59 phi; -0.06 theta; -0.18 psi 2020-12-09T06:31:28Z- waiting for 1607495488.98, time is 1607495487.99 2020-12-09T06:31:28Z- sync is 0.80, coherence is 2.00 2020-12-09T06:31:28Z- handleDepth()-Depth_Keller msg: 8.11 epoch sec; seqNo:1607495488790; depth 0.00 2020-12-09T06:31:28Z- waiting for 1607495488.98, time is 1607495487.99 2020-12-09T06:31:28Z- sync is 0.80, coherence is 2.00 2020-12-09T06:31:28Z- handleDvl() - RDI_Pathfinder msg: 1607495488.80 epoch sec; seqNo:139 2020-12-09T06:31:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.96 , 93.57 , 73.08 , 86.01 2020-12-09T06:31:28Z- handleDvl() - RDI_Pathfinder msg: velocities 1.42 , -0.02 , -0.97 2020-12-09T06:31:28Z- waiting for 1607495488.98, time is 1607495488.80 2020-12-09T06:31:28Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495488.83 epoch sec; seqNo:271; 4061671.50 north; 594652.90 east 2020-12-09T06:31:28Z- waiting for 1607495488.98, time is 1607495488.80 2020-12-09T06:31:28Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:29Z- AHRS_M2 msg: 1607495489.19 epoch sec; seqNo:257 2020-12-09T06:31:29Z- AHRS_M2 msg: 4.60 phi; -0.04 theta; -0.16 psi 2020-12-09T06:31:29Z- waiting for 1607495488.98, time is 1607495488.80 2020-12-09T06:31:29Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:29Z- handleDepth()-Depth_Keller msg: 8.13 epoch sec; seqNo:1607495489198; depth 0.00 2020-12-09T06:31:29Z- waiting for 1607495488.98, time is 1607495488.80 2020-12-09T06:31:29Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:29Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:29Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:29Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:29Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:31:29Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:31:29Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:31:29Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:31:29Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:31:29Z- handleDvl() - RDI_Pathfinder msg: 1607495489.20 epoch sec; seqNo:140 2020-12-09T06:31:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:31:29Z- handleDvl() - RDI_Pathfinder msg: velocities 1.42 , -0.02 , -0.97 2020-12-09T06:31:29Z- waiting for 1607495488.98, time is 1607495489.20 2020-12-09T06:31:29Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:29Z- LcmTrn::updateTrn() >>>> pose time 1607495489.19, meas time 1607495489.20 <<<< 2020-12-09T06:31:29Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495489.20, ping # 0. 2020-12-09T06:31:29Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495489.20 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:31:29Z- TerrainNav::motionUpdate() - currEstimate = (4061672, 594652.90, 8.13) 2020-12-09T06:31:29Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:31:29Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:31:29Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:31:29Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:31:29Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:31:29Z- TNavBF::mmse selected from filter -1 2020-12-09T06:31:29Z- variances([0], [2], and psi_berg) = 823.412302 833.180370 0.000000 2020-12-09T06:31:29Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:31:29Z- LcmTrn::cycle() - MLE : 4061634.00 594603.40 8.13 2020-12-09T06:31:29Z- LcmTrn::cycle() - MMSE : 4061671.50 594652.90 8.13 2020-12-09T06:31:29Z- LcmTrn::cycle() - COVAR: 823.41 833.18 28.85 0.00 2020-12-09T06:31:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495489.22 epoch sec; seqNo:272; 4061671.50 north; 594652.90 east 2020-12-09T06:31:29Z- waiting for 1607495492.20, time is 1607495489.20 2020-12-09T06:31:29Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:29Z- AHRS_M2 msg: 1607495489.60 epoch sec; seqNo:258 2020-12-09T06:31:29Z- AHRS_M2 msg: 4.61 phi; -0.03 theta; -0.15 psi 2020-12-09T06:31:29Z- waiting for 1607495492.20, time is 1607495489.20 2020-12-09T06:31:29Z- sync is 0.40, coherence is 2.00 2020-12-09T06:31:29Z- handleDepth()-Depth_Keller msg: 8.13 epoch sec; seqNo:1607495489607; depth 0.00 2020-12-09T06:31:29Z- waiting for 1607495492.20, time is 1607495489.20 2020-12-09T06:31:29Z- sync is 0.40, coherence is 2.00 2020-12-09T06:31:29Z- handleDvl() - RDI_Pathfinder msg: 1607495489.62 epoch sec; seqNo:141 2020-12-09T06:31:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.55 , 89.25 , 73.49 , 79.62 2020-12-09T06:31:29Z- handleDvl() - RDI_Pathfinder msg: velocities 1.69 , 0.28 , -0.72 2020-12-09T06:31:29Z- waiting for 1607495492.20, time is 1607495489.62 2020-12-09T06:31:29Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495489.63 epoch sec; seqNo:273; 4061671.49 north; 594651.68 east 2020-12-09T06:31:29Z- waiting for 1607495492.20, time is 1607495489.62 2020-12-09T06:31:29Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:29Z- AHRS_M2 msg: 1607495490.00 epoch sec; seqNo:259 2020-12-09T06:31:29Z- AHRS_M2 msg: 4.61 phi; -0.01 theta; -0.14 psi 2020-12-09T06:31:29Z- waiting for 1607495492.20, time is 1607495489.62 2020-12-09T06:31:29Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:29Z- handleDepth()-Depth_Keller msg: 8.13 epoch sec; seqNo:1607495490002; depth 0.00 2020-12-09T06:31:29Z- waiting for 1607495492.20, time is 1607495489.62 2020-12-09T06:31:29Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495490.03 epoch sec; seqNo:274; 4061671.49 north; 594651.68 east 2020-12-09T06:31:30Z- waiting for 1607495492.20, time is 1607495489.62 2020-12-09T06:31:30Z- sync is 0.41, coherence is 2.00 2020-12-09T06:31:30Z- AHRS_M2 msg: 1607495490.40 epoch sec; seqNo:260 2020-12-09T06:31:30Z- AHRS_M2 msg: 4.61 phi; -0.00 theta; -0.13 psi 2020-12-09T06:31:30Z- waiting for 1607495492.20, time is 1607495489.62 2020-12-09T06:31:30Z- sync is 0.78, coherence is 2.00 2020-12-09T06:31:30Z- handleDepth()-Depth_Keller msg: 8.15 epoch sec; seqNo:1607495490414; depth 0.00 2020-12-09T06:31:30Z- waiting for 1607495492.20, time is 1607495489.62 2020-12-09T06:31:30Z- sync is 0.78, coherence is 2.00 2020-12-09T06:31:30Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:30Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:30Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:30Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:31:30Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:31:30Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:31:30Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:31:30Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:31:30Z- handleDvl() - RDI_Pathfinder msg: 1607495490.42 epoch sec; seqNo:142 2020-12-09T06:31:30Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:31:30Z- handleDvl() - RDI_Pathfinder msg: velocities 1.69 , 0.28 , -0.72 2020-12-09T06:31:30Z- waiting for 1607495492.20, time is 1607495490.42 2020-12-09T06:31:30Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495490.43 epoch sec; seqNo:275; 4061671.48 north; 594650.46 east 2020-12-09T06:31:30Z- waiting for 1607495492.20, time is 1607495490.42 2020-12-09T06:31:30Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:30Z- AHRS_M2 msg: 1607495490.81 epoch sec; seqNo:261 2020-12-09T06:31:30Z- AHRS_M2 msg: 4.61 phi; 0.01 theta; -0.13 psi 2020-12-09T06:31:30Z- waiting for 1607495492.20, time is 1607495490.42 2020-12-09T06:31:30Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:30Z- handleDepth()-Depth_Keller msg: 8.17 epoch sec; seqNo:1607495490810; depth 0.00 2020-12-09T06:31:30Z- waiting for 1607495492.20, time is 1607495490.42 2020-12-09T06:31:30Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:30Z- handleDvl() - RDI_Pathfinder msg: 1607495490.82 epoch sec; seqNo:143 2020-12-09T06:31:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.96 , 88.17 , 73.90 , 77.17 2020-12-09T06:31:30Z- handleDvl() - RDI_Pathfinder msg: velocities 1.80 , 0.46 , -0.34 2020-12-09T06:31:30Z- waiting for 1607495492.20, time is 1607495490.82 2020-12-09T06:31:30Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495490.84 epoch sec; seqNo:276; 4061671.46 north; 594649.24 east 2020-12-09T06:31:30Z- waiting for 1607495492.20, time is 1607495490.82 2020-12-09T06:31:30Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:31Z- AHRS_M2 msg: 1607495491.21 epoch sec; seqNo:262 2020-12-09T06:31:31Z- AHRS_M2 msg: 4.60 phi; 0.01 theta; -0.13 psi 2020-12-09T06:31:31Z- waiting for 1607495492.20, time is 1607495490.82 2020-12-09T06:31:31Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:31Z- handleDepth()-Depth_Keller msg: 8.18 epoch sec; seqNo:1607495491227; depth 0.00 2020-12-09T06:31:31Z- waiting for 1607495492.20, time is 1607495490.82 2020-12-09T06:31:31Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495491.24 epoch sec; seqNo:277; 4061671.46 north; 594649.24 east 2020-12-09T06:31:31Z- waiting for 1607495492.20, time is 1607495490.82 2020-12-09T06:31:31Z- sync is 0.42, coherence is 2.00 2020-12-09T06:31:31Z- AHRS_M2 msg: 1607495491.63 epoch sec; seqNo:263 2020-12-09T06:31:31Z- AHRS_M2 msg: 4.60 phi; 0.02 theta; -0.14 psi 2020-12-09T06:31:31Z- waiting for 1607495492.20, time is 1607495490.82 2020-12-09T06:31:31Z- sync is 0.81, coherence is 2.00 2020-12-09T06:31:31Z- handleDepth()-Depth_Keller msg: 8.19 epoch sec; seqNo:1607495491649; depth 0.00 2020-12-09T06:31:31Z- waiting for 1607495492.20, time is 1607495490.82 2020-12-09T06:31:31Z- sync is 0.81, coherence is 2.00 2020-12-09T06:31:31Z- handleDvl() - RDI_Pathfinder msg: 1607495491.67 epoch sec; seqNo:144 2020-12-09T06:31:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.37 , 88.17 , 75.13 , 78.45 2020-12-09T06:31:31Z- handleDvl() - RDI_Pathfinder msg: velocities 1.79 , 0.55 , 0.09 2020-12-09T06:31:31Z- waiting for 1607495492.20, time is 1607495491.67 2020-12-09T06:31:31Z- sync is 0.03, coherence is 2.00 2020-12-09T06:31:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495491.68 epoch sec; seqNo:278; 4061671.83 north; 594648.02 east 2020-12-09T06:31:31Z- waiting for 1607495492.20, time is 1607495491.67 2020-12-09T06:31:31Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:32Z- AHRS_M2 msg: 1607495492.02 epoch sec; seqNo:264 2020-12-09T06:31:32Z- AHRS_M2 msg: 4.59 phi; 0.02 theta; -0.14 psi 2020-12-09T06:31:32Z- waiting for 1607495492.20, time is 1607495491.67 2020-12-09T06:31:32Z- sync is 0.35, coherence is 2.00 2020-12-09T06:31:32Z- handleDepth()-Depth_Keller msg: 8.20 epoch sec; seqNo:1607495492022; depth 0.00 2020-12-09T06:31:32Z- waiting for 1607495492.20, time is 1607495491.67 2020-12-09T06:31:32Z- sync is 0.35, coherence is 2.00 2020-12-09T06:31:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495492.04 epoch sec; seqNo:279; 4061671.83 north; 594648.02 east 2020-12-09T06:31:32Z- waiting for 1607495492.20, time is 1607495491.67 2020-12-09T06:31:32Z- sync is 0.37, coherence is 2.00 2020-12-09T06:31:32Z- AHRS_M2 msg: 1607495492.42 epoch sec; seqNo:265 2020-12-09T06:31:32Z- AHRS_M2 msg: 4.58 phi; 0.02 theta; -0.15 psi 2020-12-09T06:31:32Z- waiting for 1607495492.20, time is 1607495491.67 2020-12-09T06:31:32Z- sync is 0.76, coherence is 2.00 2020-12-09T06:31:32Z- handleDepth()-Depth_Keller msg: 8.21 epoch sec; seqNo:1607495492427; depth 0.00 2020-12-09T06:31:32Z- waiting for 1607495492.20, time is 1607495491.67 2020-12-09T06:31:32Z- sync is 0.76, coherence is 2.00 2020-12-09T06:31:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495492.44 epoch sec; seqNo:280; 4061671.82 north; 594646.80 east 2020-12-09T06:31:32Z- waiting for 1607495492.20, time is 1607495491.67 2020-12-09T06:31:32Z- sync is 0.77, coherence is 2.00 2020-12-09T06:31:32Z- handleDepth()-Depth_Keller msg: 8.22 epoch sec; seqNo:1607495492853; depth 0.00 2020-12-09T06:31:32Z- waiting for 1607495492.20, time is 1607495491.67 2020-12-09T06:31:32Z- sync is 0.77, coherence is 2.00 2020-12-09T06:31:32Z- handleDvl() - RDI_Pathfinder msg: 1607495492.87 epoch sec; seqNo:145 2020-12-09T06:31:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.55 , 89.25 , 76.35 , 76.35 2020-12-09T06:31:32Z- handleDvl() - RDI_Pathfinder msg: velocities 1.59 , 0.57 , 0.46 2020-12-09T06:31:32Z- waiting for 1607495492.20, time is 1607495492.87 2020-12-09T06:31:32Z- sync is 0.43, coherence is 2.00 2020-12-09T06:31:32Z- LcmTrn::updateTrn() >>>> pose time 1607495492.44, meas time 1607495492.87 <<<< 2020-12-09T06:31:32Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495492.87 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:31:32Z- TerrainNav::motionUpdate() - currEstimate = (4061672, 594646.80, 8.22) 2020-12-09T06:31:32Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:31:32Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:31:32Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:31:32Z- TNavBF::mmse selected from filter -1 2020-12-09T06:31:32Z- variances([0], [2], and psi_berg) = 822.888110 833.177622 0.000000 2020-12-09T06:31:32Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:31:32Z- LcmTrn::cycle() - MLE : 4061634.32 594597.30 8.22 2020-12-09T06:31:32Z- LcmTrn::cycle() - MMSE : 4061671.82 594646.80 8.22 2020-12-09T06:31:32Z- LcmTrn::cycle() - COVAR: 822.89 833.18 29.17 0.00 2020-12-09T06:31:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495492.88 epoch sec; seqNo:281; 4061672.18 north; 594645.57 east 2020-12-09T06:31:32Z- waiting for 1607495495.87, time is 1607495492.87 2020-12-09T06:31:32Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:33Z- AHRS_M2 msg: 1607495493.24 epoch sec; seqNo:266 2020-12-09T06:31:33Z- AHRS_M2 msg: 4.55 phi; 0.02 theta; -0.16 psi 2020-12-09T06:31:33Z- waiting for 1607495495.87, time is 1607495492.87 2020-12-09T06:31:33Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:33Z- handleDepth()-Depth_Keller msg: 8.24 epoch sec; seqNo:1607495493250; depth 0.00 2020-12-09T06:31:33Z- waiting for 1607495495.87, time is 1607495492.87 2020-12-09T06:31:33Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495493.27 epoch sec; seqNo:282; 4061672.18 north; 594645.57 east 2020-12-09T06:31:33Z- waiting for 1607495495.87, time is 1607495492.87 2020-12-09T06:31:33Z- sync is 0.41, coherence is 2.00 2020-12-09T06:31:33Z- AHRS_M2 msg: 1607495493.64 epoch sec; seqNo:267 2020-12-09T06:31:33Z- AHRS_M2 msg: 4.54 phi; 0.03 theta; -0.17 psi 2020-12-09T06:31:33Z- waiting for 1607495495.87, time is 1607495492.87 2020-12-09T06:31:33Z- sync is 0.77, coherence is 2.00 2020-12-09T06:31:33Z- handleDepth()-Depth_Keller msg: 8.24 epoch sec; seqNo:1607495493644; depth 0.00 2020-12-09T06:31:33Z- waiting for 1607495495.87, time is 1607495492.87 2020-12-09T06:31:33Z- sync is 0.77, coherence is 2.00 2020-12-09T06:31:33Z- handleDvl() - RDI_Pathfinder msg: 1607495493.66 epoch sec; seqNo:146 2020-12-09T06:31:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.96 , 90.33 , 77.98 , 76.76 2020-12-09T06:31:33Z- handleDvl() - RDI_Pathfinder msg: velocities 1.39 , 0.48 , 0.77 2020-12-09T06:31:33Z- waiting for 1607495495.87, time is 1607495493.66 2020-12-09T06:31:33Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495493.69 epoch sec; seqNo:283; 4061672.55 north; 594644.35 east 2020-12-09T06:31:33Z- waiting for 1607495495.87, time is 1607495493.66 2020-12-09T06:31:33Z- sync is 0.03, coherence is 2.00 2020-12-09T06:31:34Z- AHRS_M2 msg: 1607495494.05 epoch sec; seqNo:268 2020-12-09T06:31:34Z- AHRS_M2 msg: 4.54 phi; 0.02 theta; -0.18 psi 2020-12-09T06:31:34Z- waiting for 1607495495.87, time is 1607495493.66 2020-12-09T06:31:34Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:34Z- handleDepth()-Depth_Keller msg: 8.27 epoch sec; seqNo:1607495494059; depth 0.00 2020-12-09T06:31:34Z- waiting for 1607495495.87, time is 1607495493.66 2020-12-09T06:31:34Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:34Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:34Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:34Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:34Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:31:34Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:31:34Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:31:34Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:31:34Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:31:34Z- handleDvl() - RDI_Pathfinder msg: 1607495494.07 epoch sec; seqNo:147 2020-12-09T06:31:34Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:31:34Z- handleDvl() - RDI_Pathfinder msg: velocities 1.39 , 0.48 , 0.77 2020-12-09T06:31:34Z- waiting for 1607495495.87, time is 1607495494.07 2020-12-09T06:31:34Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495494.08 epoch sec; seqNo:284; 4061672.55 north; 594644.35 east 2020-12-09T06:31:34Z- waiting for 1607495495.87, time is 1607495494.07 2020-12-09T06:31:34Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:34Z- AHRS_M2 msg: 1607495494.44 epoch sec; seqNo:269 2020-12-09T06:31:34Z- AHRS_M2 msg: 4.53 phi; 0.02 theta; -0.19 psi 2020-12-09T06:31:34Z- waiting for 1607495495.87, time is 1607495494.07 2020-12-09T06:31:34Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:34Z- handleDepth()-Depth_Keller msg: 8.27 epoch sec; seqNo:1607495494451; depth 0.00 2020-12-09T06:31:34Z- waiting for 1607495495.87, time is 1607495494.07 2020-12-09T06:31:34Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495494.47 epoch sec; seqNo:285; 4061672.53 north; 594643.13 east 2020-12-09T06:31:34Z- waiting for 1607495495.87, time is 1607495494.07 2020-12-09T06:31:34Z- sync is 0.40, coherence is 2.00 2020-12-09T06:31:34Z- AHRS_M2 msg: 1607495494.85 epoch sec; seqNo:270 2020-12-09T06:31:34Z- AHRS_M2 msg: 4.53 phi; 0.02 theta; -0.20 psi 2020-12-09T06:31:34Z- waiting for 1607495495.87, time is 1607495494.07 2020-12-09T06:31:34Z- sync is 0.78, coherence is 2.00 2020-12-09T06:31:34Z- handleDepth()-Depth_Keller msg: 8.26 epoch sec; seqNo:1607495494850; depth 0.00 2020-12-09T06:31:34Z- waiting for 1607495495.87, time is 1607495494.07 2020-12-09T06:31:34Z- sync is 0.78, coherence is 2.00 2020-12-09T06:31:34Z- handleDvl() - RDI_Pathfinder msg: 1607495494.86 epoch sec; seqNo:148 2020-12-09T06:31:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.18 , 92.49 , 82.77 , 81.69 2020-12-09T06:31:34Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , 0.29 , 0.87 2020-12-09T06:31:34Z- waiting for 1607495495.87, time is 1607495494.86 2020-12-09T06:31:34Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495494.87 epoch sec; seqNo:286; 4061672.91 north; 594643.12 east 2020-12-09T06:31:34Z- waiting for 1607495495.87, time is 1607495494.86 2020-12-09T06:31:34Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:35Z- AHRS_M2 msg: 1607495495.25 epoch sec; seqNo:271 2020-12-09T06:31:35Z- AHRS_M2 msg: 4.53 phi; 0.02 theta; -0.21 psi 2020-12-09T06:31:35Z- waiting for 1607495495.87, time is 1607495494.86 2020-12-09T06:31:35Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:35Z- handleDepth()-Depth_Keller msg: 8.26 epoch sec; seqNo:1607495495262; depth 0.00 2020-12-09T06:31:35Z- waiting for 1607495495.87, time is 1607495494.86 2020-12-09T06:31:35Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:35Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:35Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:31:35Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:31:35Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:31:35Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:31:35Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:31:35Z- handleDvl() - RDI_Pathfinder msg: 1607495495.26 epoch sec; seqNo:149 2020-12-09T06:31:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:31:35Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , 0.29 , 0.87 2020-12-09T06:31:35Z- waiting for 1607495495.87, time is 1607495495.26 2020-12-09T06:31:35Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495495.28 epoch sec; seqNo:287; 4061672.91 north; 594643.12 east 2020-12-09T06:31:35Z- waiting for 1607495495.87, time is 1607495495.26 2020-12-09T06:31:35Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:35Z- AHRS_M2 msg: 1607495495.65 epoch sec; seqNo:272 2020-12-09T06:31:35Z- AHRS_M2 msg: 4.53 phi; 0.01 theta; -0.21 psi 2020-12-09T06:31:35Z- waiting for 1607495495.87, time is 1607495495.26 2020-12-09T06:31:35Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:35Z- handleDepth()-Depth_Keller msg: 8.27 epoch sec; seqNo:1607495495656; depth 0.00 2020-12-09T06:31:35Z- waiting for 1607495495.87, time is 1607495495.26 2020-12-09T06:31:35Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495495.68 epoch sec; seqNo:288; 4061672.90 north; 594641.90 east 2020-12-09T06:31:35Z- waiting for 1607495495.87, time is 1607495495.26 2020-12-09T06:31:35Z- sync is 0.42, coherence is 2.00 2020-12-09T06:31:36Z- AHRS_M2 msg: 1607495496.06 epoch sec; seqNo:273 2020-12-09T06:31:36Z- AHRS_M2 msg: 4.54 phi; 0.01 theta; -0.22 psi 2020-12-09T06:31:36Z- waiting for 1607495495.87, time is 1607495495.26 2020-12-09T06:31:36Z- sync is 0.80, coherence is 2.00 2020-12-09T06:31:36Z- handleDepth()-Depth_Keller msg: 8.27 epoch sec; seqNo:1607495496068; depth 0.00 2020-12-09T06:31:36Z- waiting for 1607495495.87, time is 1607495495.26 2020-12-09T06:31:36Z- sync is 0.80, coherence is 2.00 2020-12-09T06:31:36Z- handleDvl() - RDI_Pathfinder msg: 1607495496.09 epoch sec; seqNo:150 2020-12-09T06:31:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.18 , 96.75 , 83.78 , 82.70 2020-12-09T06:31:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , 0.09 , 0.75 2020-12-09T06:31:36Z- waiting for 1607495495.87, time is 1607495496.09 2020-12-09T06:31:36Z- sync is 0.03, coherence is 2.00 2020-12-09T06:31:36Z- LcmTrn::updateTrn() >>>> pose time 1607495496.06, meas time 1607495496.09 <<<< 2020-12-09T06:31:36Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495496.09 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:31:36Z- TerrainNav::motionUpdate() - currEstimate = (4061673, 594641.90, 8.27) 2020-12-09T06:31:36Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:31:36Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:31:36Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:31:36Z- TNavBF::mmse selected from filter -1 2020-12-09T06:31:36Z- variances([0], [2], and psi_berg) = 822.421197 833.175241 0.000000 2020-12-09T06:31:36Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:31:36Z- LcmTrn::cycle() - MLE : 4061635.40 594593.40 8.27 2020-12-09T06:31:36Z- LcmTrn::cycle() - MMSE : 4061672.90 594641.90 8.27 2020-12-09T06:31:36Z- LcmTrn::cycle() - COVAR: 822.42 833.18 29.42 0.00 2020-12-09T06:31:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495496.11 epoch sec; seqNo:289; 4061672.90 north; 594641.90 east 2020-12-09T06:31:36Z- waiting for 1607495499.09, time is 1607495496.09 2020-12-09T06:31:36Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:36Z- AHRS_M2 msg: 1607495496.46 epoch sec; seqNo:274 2020-12-09T06:31:36Z- AHRS_M2 msg: 4.55 phi; 0.00 theta; -0.22 psi 2020-12-09T06:31:36Z- waiting for 1607495499.09, time is 1607495496.09 2020-12-09T06:31:36Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:36Z- handleDepth()-Depth_Keller msg: 8.24 epoch sec; seqNo:1607495496503; depth 0.00 2020-12-09T06:31:36Z- waiting for 1607495499.09, time is 1607495496.09 2020-12-09T06:31:36Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:36Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:36Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:36Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:36Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:31:36Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:31:36Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:31:36Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:31:36Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:31:36Z- handleDvl() - RDI_Pathfinder msg: 1607495496.51 epoch sec; seqNo:151 2020-12-09T06:31:36Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:31:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , 0.09 , 0.75 2020-12-09T06:31:36Z- waiting for 1607495499.09, time is 1607495496.51 2020-12-09T06:31:36Z- sync is 0.04, coherence is 2.00 2020-12-09T06:31:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495496.52 epoch sec; seqNo:290; 4061673.28 north; 594641.90 east 2020-12-09T06:31:36Z- waiting for 1607495499.09, time is 1607495496.51 2020-12-09T06:31:36Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:36Z- AHRS_M2 msg: 1607495496.87 epoch sec; seqNo:275 2020-12-09T06:31:36Z- AHRS_M2 msg: 4.56 phi; 0.00 theta; -0.22 psi 2020-12-09T06:31:36Z- waiting for 1607495499.09, time is 1607495496.51 2020-12-09T06:31:36Z- sync is 0.37, coherence is 2.00 2020-12-09T06:31:36Z- handleDepth()-Depth_Keller msg: 8.22 epoch sec; seqNo:1607495496875; depth 0.00 2020-12-09T06:31:36Z- waiting for 1607495499.09, time is 1607495496.51 2020-12-09T06:31:36Z- sync is 0.37, coherence is 2.00 2020-12-09T06:31:36Z- handleDvl() - RDI_Pathfinder msg: 1607495496.89 epoch sec; seqNo:152 2020-12-09T06:31:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.59 , 98.37 , 85.00 , 82.57 2020-12-09T06:31:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.58 , -0.09 , 0.57 2020-12-09T06:31:36Z- waiting for 1607495499.09, time is 1607495496.89 2020-12-09T06:31:36Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495496.90 epoch sec; seqNo:291; 4061672.90 north; 594641.90 east 2020-12-09T06:31:36Z- waiting for 1607495499.09, time is 1607495496.89 2020-12-09T06:31:36Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:37Z- AHRS_M2 msg: 1607495497.28 epoch sec; seqNo:276 2020-12-09T06:31:37Z- AHRS_M2 msg: 4.57 phi; 0.00 theta; -0.22 psi 2020-12-09T06:31:37Z- waiting for 1607495499.09, time is 1607495496.89 2020-12-09T06:31:37Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:37Z- handleDepth()-Depth_Keller msg: 8.23 epoch sec; seqNo:1607495497279; depth 0.00 2020-12-09T06:31:37Z- waiting for 1607495499.09, time is 1607495496.89 2020-12-09T06:31:37Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495497.29 epoch sec; seqNo:292; 4061672.88 north; 594640.68 east 2020-12-09T06:31:37Z- waiting for 1607495499.09, time is 1607495496.89 2020-12-09T06:31:37Z- sync is 0.40, coherence is 2.00 2020-12-09T06:31:37Z- AHRS_M2 msg: 1607495497.70 epoch sec; seqNo:277 2020-12-09T06:31:37Z- AHRS_M2 msg: 4.58 phi; -0.00 theta; -0.22 psi 2020-12-09T06:31:37Z- waiting for 1607495499.09, time is 1607495496.89 2020-12-09T06:31:37Z- sync is 0.81, coherence is 2.00 2020-12-09T06:31:37Z- handleDepth()-Depth_Keller msg: 8.21 epoch sec; seqNo:1607495497706; depth 0.00 2020-12-09T06:31:37Z- waiting for 1607495499.09, time is 1607495496.89 2020-12-09T06:31:37Z- sync is 0.81, coherence is 2.00 2020-12-09T06:31:37Z- handleDvl() - RDI_Pathfinder msg: 1607495497.72 epoch sec; seqNo:153 2020-12-09T06:31:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.59 , 97.08 , 83.71 , 83.71 2020-12-09T06:31:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.46 , -0.21 , 0.40 2020-12-09T06:31:37Z- waiting for 1607495499.09, time is 1607495497.72 2020-12-09T06:31:37Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495497.76 epoch sec; seqNo:293; 4061672.88 north; 594640.68 east 2020-12-09T06:31:37Z- waiting for 1607495499.09, time is 1607495497.72 2020-12-09T06:31:37Z- sync is 0.04, coherence is 2.00 2020-12-09T06:31:38Z- AHRS_M2 msg: 1607495498.08 epoch sec; seqNo:278 2020-12-09T06:31:38Z- AHRS_M2 msg: 4.58 phi; -0.00 theta; -0.22 psi 2020-12-09T06:31:38Z- waiting for 1607495499.09, time is 1607495497.72 2020-12-09T06:31:38Z- sync is 0.36, coherence is 2.00 2020-12-09T06:31:38Z- handleDepth()-Depth_Keller msg: 8.21 epoch sec; seqNo:1607495498086; depth 0.00 2020-12-09T06:31:38Z- waiting for 1607495499.09, time is 1607495497.72 2020-12-09T06:31:38Z- sync is 0.36, coherence is 2.00 2020-12-09T06:31:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495498.10 epoch sec; seqNo:294; 4061672.88 north; 594640.68 east 2020-12-09T06:31:38Z- waiting for 1607495499.09, time is 1607495497.72 2020-12-09T06:31:38Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:38Z- AHRS_M2 msg: 1607495498.49 epoch sec; seqNo:279 2020-12-09T06:31:38Z- AHRS_M2 msg: 4.58 phi; -0.01 theta; -0.22 psi 2020-12-09T06:31:38Z- waiting for 1607495499.09, time is 1607495497.72 2020-12-09T06:31:38Z- sync is 0.77, coherence is 2.00 2020-12-09T06:31:38Z- handleDepth()-Depth_Keller msg: 8.19 epoch sec; seqNo:1607495498490; depth 0.00 2020-12-09T06:31:38Z- waiting for 1607495499.09, time is 1607495497.72 2020-12-09T06:31:38Z- sync is 0.77, coherence is 2.00 2020-12-09T06:31:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495498.50 epoch sec; seqNo:295; 4061672.88 north; 594640.68 east 2020-12-09T06:31:38Z- waiting for 1607495499.09, time is 1607495497.72 2020-12-09T06:31:38Z- sync is 0.78, coherence is 2.00 2020-12-09T06:31:38Z- AHRS_M2 msg: 1607495498.89 epoch sec; seqNo:280 2020-12-09T06:31:38Z- AHRS_M2 msg: 4.59 phi; -0.01 theta; -0.23 psi 2020-12-09T06:31:38Z- waiting for 1607495499.09, time is 1607495497.72 2020-12-09T06:31:38Z- sync is 1.17, coherence is 2.00 2020-12-09T06:31:38Z- handleDepth()-Depth_Keller msg: 8.18 epoch sec; seqNo:1607495498899; depth 0.00 2020-12-09T06:31:38Z- waiting for 1607495499.09, time is 1607495497.72 2020-12-09T06:31:38Z- sync is 1.17, coherence is 2.00 2020-12-09T06:31:38Z- handleDvl() - RDI_Pathfinder msg: 1607495498.91 epoch sec; seqNo:154 2020-12-09T06:31:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 69.41 , 97.08 , 82.50 , 83.71 2020-12-09T06:31:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.38 , -0.32 , 0.17 2020-12-09T06:31:38Z- waiting for 1607495499.09, time is 1607495498.91 2020-12-09T06:31:38Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495498.93 epoch sec; seqNo:296; 4061672.51 north; 594640.69 east 2020-12-09T06:31:38Z- waiting for 1607495499.09, time is 1607495498.91 2020-12-09T06:31:38Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:39Z- AHRS_M2 msg: 1607495499.29 epoch sec; seqNo:281 2020-12-09T06:31:39Z- AHRS_M2 msg: 4.59 phi; -0.02 theta; -0.24 psi 2020-12-09T06:31:39Z- waiting for 1607495499.09, time is 1607495498.91 2020-12-09T06:31:39Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:39Z- handleDepth()-Depth_Keller msg: 8.16 epoch sec; seqNo:1607495499298; depth 0.00 2020-12-09T06:31:39Z- waiting for 1607495499.09, time is 1607495498.91 2020-12-09T06:31:39Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495499.32 epoch sec; seqNo:297; 4061672.51 north; 594640.69 east 2020-12-09T06:31:39Z- waiting for 1607495499.09, time is 1607495498.91 2020-12-09T06:31:39Z- sync is 0.41, coherence is 2.00 2020-12-09T06:31:39Z- AHRS_M2 msg: 1607495499.70 epoch sec; seqNo:282 2020-12-09T06:31:39Z- AHRS_M2 msg: 4.60 phi; -0.03 theta; -0.24 psi 2020-12-09T06:31:39Z- waiting for 1607495499.09, time is 1607495498.91 2020-12-09T06:31:39Z- sync is 0.79, coherence is 2.00 2020-12-09T06:31:39Z- handleDepth()-Depth_Keller msg: 8.15 epoch sec; seqNo:1607495499710; depth 0.00 2020-12-09T06:31:39Z- waiting for 1607495499.09, time is 1607495498.91 2020-12-09T06:31:39Z- sync is 0.79, coherence is 2.00 2020-12-09T06:31:39Z- handleDvl() - RDI_Pathfinder msg: 1607495499.73 epoch sec; seqNo:155 2020-12-09T06:31:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.59 , 97.08 , 79.61 , 86.14 2020-12-09T06:31:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.35 , -0.39 , -0.17 2020-12-09T06:31:39Z- waiting for 1607495499.09, time is 1607495499.73 2020-12-09T06:31:39Z- sync is 0.03, coherence is 2.00 2020-12-09T06:31:39Z- LcmTrn::updateTrn() >>>> pose time 1607495499.70, meas time 1607495499.73 <<<< 2020-12-09T06:31:39Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495499.73 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:31:39Z- TerrainNav::motionUpdate() - currEstimate = (4061673, 594640.69, 8.15) 2020-12-09T06:31:39Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:31:39Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:31:39Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:31:39Z- TNavBF::mmse selected from filter -1 2020-12-09T06:31:39Z- variances([0], [2], and psi_berg) = 822.188865 833.174085 0.000000 2020-12-09T06:31:39Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:31:39Z- LcmTrn::cycle() - MLE : 4061635.01 594592.19 8.15 2020-12-09T06:31:39Z- LcmTrn::cycle() - MMSE : 4061672.51 594640.69 8.15 2020-12-09T06:31:39Z- LcmTrn::cycle() - COVAR: 822.19 833.17 29.49 0.00 2020-12-09T06:31:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495499.74 epoch sec; seqNo:298; 4061672.51 north; 594640.69 east 2020-12-09T06:31:39Z- waiting for 1607495502.73, time is 1607495499.73 2020-12-09T06:31:39Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:40Z- AHRS_M2 msg: 1607495500.11 epoch sec; seqNo:283 2020-12-09T06:31:40Z- AHRS_M2 msg: 4.61 phi; -0.03 theta; -0.25 psi 2020-12-09T06:31:40Z- waiting for 1607495502.73, time is 1607495499.73 2020-12-09T06:31:40Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:40Z- handleDepth()-Depth_Keller msg: 8.14 epoch sec; seqNo:1607495500110; depth 0.00 2020-12-09T06:31:40Z- waiting for 1607495502.73, time is 1607495499.73 2020-12-09T06:31:40Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:40Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:40Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:40Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:40Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:31:40Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:31:40Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:31:40Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:31:40Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:31:40Z- handleDvl() - RDI_Pathfinder msg: 1607495500.11 epoch sec; seqNo:156 2020-12-09T06:31:40Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:31:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.35 , -0.39 , -0.17 2020-12-09T06:31:40Z- waiting for 1607495502.73, time is 1607495500.11 2020-12-09T06:31:40Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495500.13 epoch sec; seqNo:299; 4061672.11 north; 594639.47 east 2020-12-09T06:31:40Z- waiting for 1607495502.73, time is 1607495500.11 2020-12-09T06:31:40Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:40Z- AHRS_M2 msg: 1607495500.51 epoch sec; seqNo:284 2020-12-09T06:31:40Z- AHRS_M2 msg: 4.62 phi; -0.04 theta; -0.25 psi 2020-12-09T06:31:40Z- waiting for 1607495502.73, time is 1607495500.11 2020-12-09T06:31:40Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:40Z- handleDepth()-Depth_Keller msg: 8.11 epoch sec; seqNo:1607495500511; depth 0.00 2020-12-09T06:31:40Z- waiting for 1607495502.73, time is 1607495500.11 2020-12-09T06:31:40Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495500.52 epoch sec; seqNo:300; 4061672.11 north; 594639.47 east 2020-12-09T06:31:40Z- waiting for 1607495502.73, time is 1607495500.11 2020-12-09T06:31:40Z- sync is 0.41, coherence is 2.00 2020-12-09T06:31:40Z- AHRS_M2 msg: 1607495500.91 epoch sec; seqNo:285 2020-12-09T06:31:40Z- AHRS_M2 msg: 4.63 phi; -0.05 theta; -0.25 psi 2020-12-09T06:31:40Z- waiting for 1607495502.73, time is 1607495500.11 2020-12-09T06:31:40Z- sync is 0.80, coherence is 2.00 2020-12-09T06:31:40Z- handleDepth()-Depth_Keller msg: 8.11 epoch sec; seqNo:1607495500922; depth 0.00 2020-12-09T06:31:40Z- waiting for 1607495502.73, time is 1607495500.11 2020-12-09T06:31:40Z- sync is 0.80, coherence is 2.00 2020-12-09T06:31:40Z- handleDvl() - RDI_Pathfinder msg: 1607495500.93 epoch sec; seqNo:157 2020-12-09T06:31:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.18 , 98.36 , 77.57 , 87.43 2020-12-09T06:31:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.48 , -0.39 , -0.49 2020-12-09T06:31:40Z- waiting for 1607495502.73, time is 1607495500.93 2020-12-09T06:31:40Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495500.94 epoch sec; seqNo:301; 4061671.73 north; 594639.48 east 2020-12-09T06:31:40Z- waiting for 1607495502.73, time is 1607495500.93 2020-12-09T06:31:40Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:41Z- AHRS_M2 msg: 1607495501.31 epoch sec; seqNo:286 2020-12-09T06:31:41Z- AHRS_M2 msg: 4.63 phi; -0.05 theta; -0.25 psi 2020-12-09T06:31:41Z- waiting for 1607495502.73, time is 1607495500.93 2020-12-09T06:31:41Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:41Z- handleDepth()-Depth_Keller msg: 8.07 epoch sec; seqNo:1607495501322; depth 0.00 2020-12-09T06:31:41Z- waiting for 1607495502.73, time is 1607495500.93 2020-12-09T06:31:41Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:41Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:41Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:41Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:41Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:31:41Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:31:41Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:31:41Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:31:41Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:31:41Z- handleDvl() - RDI_Pathfinder msg: 1607495501.32 epoch sec; seqNo:158 2020-12-09T06:31:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:31:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.48 , -0.39 , -0.49 2020-12-09T06:31:41Z- waiting for 1607495502.73, time is 1607495501.32 2020-12-09T06:31:41Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495501.35 epoch sec; seqNo:302; 4061671.73 north; 594639.48 east 2020-12-09T06:31:41Z- waiting for 1607495502.73, time is 1607495501.32 2020-12-09T06:31:41Z- sync is 0.03, coherence is 2.00 2020-12-09T06:31:41Z- AHRS_M2 msg: 1607495501.72 epoch sec; seqNo:287 2020-12-09T06:31:41Z- AHRS_M2 msg: 4.64 phi; -0.06 theta; -0.24 psi 2020-12-09T06:31:41Z- waiting for 1607495502.73, time is 1607495501.32 2020-12-09T06:31:41Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:41Z- handleDepth()-Depth_Keller msg: 8.06 epoch sec; seqNo:1607495501732; depth 0.00 2020-12-09T06:31:41Z- waiting for 1607495502.73, time is 1607495501.32 2020-12-09T06:31:41Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:41Z- handleDvl() - RDI_Pathfinder msg: 1607495501.74 epoch sec; seqNo:159 2020-12-09T06:31:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.36 , 97.14 , 76.34 , 87.43 2020-12-09T06:31:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.32 , -0.69 2020-12-09T06:31:41Z- waiting for 1607495502.73, time is 1607495501.74 2020-12-09T06:31:41Z- sync is 0.03, coherence is 2.00 2020-12-09T06:31:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495501.76 epoch sec; seqNo:303; 4061671.36 north; 594639.48 east 2020-12-09T06:31:41Z- waiting for 1607495502.73, time is 1607495501.74 2020-12-09T06:31:41Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:42Z- AHRS_M2 msg: 1607495502.12 epoch sec; seqNo:288 2020-12-09T06:31:42Z- AHRS_M2 msg: 4.65 phi; -0.06 theta; -0.24 psi 2020-12-09T06:31:42Z- waiting for 1607495502.73, time is 1607495501.74 2020-12-09T06:31:42Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:42Z- handleDepth()-Depth_Keller msg: 8.03 epoch sec; seqNo:1607495502125; depth 0.00 2020-12-09T06:31:42Z- waiting for 1607495502.73, time is 1607495501.74 2020-12-09T06:31:42Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495502.15 epoch sec; seqNo:304; 4061670.98 north; 594639.48 east 2020-12-09T06:31:42Z- waiting for 1607495502.73, time is 1607495501.74 2020-12-09T06:31:42Z- sync is 0.41, coherence is 2.00 2020-12-09T06:31:42Z- AHRS_M2 msg: 1607495502.53 epoch sec; seqNo:289 2020-12-09T06:31:42Z- AHRS_M2 msg: 4.65 phi; -0.07 theta; -0.23 psi 2020-12-09T06:31:42Z- waiting for 1607495502.73, time is 1607495501.74 2020-12-09T06:31:42Z- sync is 0.78, coherence is 2.00 2020-12-09T06:31:42Z- handleDepth()-Depth_Keller msg: 8.04 epoch sec; seqNo:1607495502534; depth 0.00 2020-12-09T06:31:42Z- waiting for 1607495502.73, time is 1607495501.74 2020-12-09T06:31:42Z- sync is 0.78, coherence is 2.00 2020-12-09T06:31:42Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:42Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:42Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:42Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:31:42Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:31:42Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:31:42Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:31:42Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:31:42Z- handleDvl() - RDI_Pathfinder msg: 1607495502.54 epoch sec; seqNo:160 2020-12-09T06:31:42Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:31:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.32 , -0.69 2020-12-09T06:31:42Z- waiting for 1607495502.73, time is 1607495502.54 2020-12-09T06:31:42Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495502.56 epoch sec; seqNo:305; 4061670.96 north; 594638.26 east 2020-12-09T06:31:42Z- waiting for 1607495502.73, time is 1607495502.54 2020-12-09T06:31:42Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:42Z- AHRS_M2 msg: 1607495502.95 epoch sec; seqNo:290 2020-12-09T06:31:42Z- AHRS_M2 msg: 4.66 phi; -0.07 theta; -0.23 psi 2020-12-09T06:31:42Z- waiting for 1607495502.73, time is 1607495502.54 2020-12-09T06:31:42Z- sync is 0.42, coherence is 2.00 2020-12-09T06:31:42Z- handleDepth()-Depth_Keller msg: 8.02 epoch sec; seqNo:1607495502959; depth 0.00 2020-12-09T06:31:42Z- waiting for 1607495502.73, time is 1607495502.54 2020-12-09T06:31:42Z- sync is 0.42, coherence is 2.00 2020-12-09T06:31:42Z- handleDvl() - RDI_Pathfinder msg: 1607495502.97 epoch sec; seqNo:161 2020-12-09T06:31:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.14 , 96.67 , 75.12 , 88.03 2020-12-09T06:31:42Z- handleDvl() - RDI_Pathfinder msg: velocities 1.15 , -0.14 , -0.80 2020-12-09T06:31:42Z- waiting for 1607495502.73, time is 1607495502.97 2020-12-09T06:31:42Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:42Z- LcmTrn::updateTrn() >>>> pose time 1607495502.95, meas time 1607495502.97 <<<< 2020-12-09T06:31:42Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495502.97 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:31:42Z- TerrainNav::motionUpdate() - currEstimate = (4061671, 594638.26, 8.02) 2020-12-09T06:31:42Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:31:42Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:31:42Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:31:42Z- TNavBF::mmse selected from filter -1 2020-12-09T06:31:42Z- variances([0], [2], and psi_berg) = 821.842956 833.172385 0.000000 2020-12-09T06:31:42Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:31:42Z- LcmTrn::cycle() - MLE : 4061633.46 594590.76 8.02 2020-12-09T06:31:42Z- LcmTrn::cycle() - MMSE : 4061670.96 594638.26 8.02 2020-12-09T06:31:42Z- LcmTrn::cycle() - COVAR: 821.84 833.17 29.63 0.00 2020-12-09T06:31:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495502.99 epoch sec; seqNo:306; 4061670.58 north; 594638.27 east 2020-12-09T06:31:42Z- waiting for 1607495505.97, time is 1607495502.97 2020-12-09T06:31:42Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:43Z- AHRS_M2 msg: 1607495503.33 epoch sec; seqNo:291 2020-12-09T06:31:43Z- AHRS_M2 msg: 4.67 phi; -0.07 theta; -0.22 psi 2020-12-09T06:31:43Z- waiting for 1607495505.97, time is 1607495502.97 2020-12-09T06:31:43Z- sync is 0.36, coherence is 2.00 2020-12-09T06:31:43Z- handleDepth()-Depth_Keller msg: 8.02 epoch sec; seqNo:1607495503338; depth 0.00 2020-12-09T06:31:43Z- waiting for 1607495505.97, time is 1607495502.97 2020-12-09T06:31:43Z- sync is 0.36, coherence is 2.00 2020-12-09T06:31:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495503.36 epoch sec; seqNo:307; 4061670.58 north; 594638.27 east 2020-12-09T06:31:43Z- waiting for 1607495505.97, time is 1607495502.97 2020-12-09T06:31:43Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:43Z- AHRS_M2 msg: 1607495503.74 epoch sec; seqNo:292 2020-12-09T06:31:43Z- AHRS_M2 msg: 4.67 phi; -0.07 theta; -0.21 psi 2020-12-09T06:31:43Z- waiting for 1607495505.97, time is 1607495502.97 2020-12-09T06:31:43Z- sync is 0.77, coherence is 2.00 2020-12-09T06:31:43Z- handleDepth()-Depth_Keller msg: 8.01 epoch sec; seqNo:1607495503750; depth 0.00 2020-12-09T06:31:43Z- waiting for 1607495505.97, time is 1607495502.97 2020-12-09T06:31:43Z- sync is 0.77, coherence is 2.00 2020-12-09T06:31:43Z- handleDvl() - RDI_Pathfinder msg: 1607495503.78 epoch sec; seqNo:162 2020-12-09T06:31:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.73 , 94.51 , 73.08 , 86.95 2020-12-09T06:31:43Z- handleDvl() - RDI_Pathfinder msg: velocities 1.50 , 0.04 , -0.76 2020-12-09T06:31:43Z- waiting for 1607495505.97, time is 1607495503.78 2020-12-09T06:31:43Z- sync is 0.04, coherence is 2.00 2020-12-09T06:31:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495503.79 epoch sec; seqNo:308; 4061670.57 north; 594637.05 east 2020-12-09T06:31:43Z- waiting for 1607495505.97, time is 1607495503.78 2020-12-09T06:31:43Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:44Z- AHRS_M2 msg: 1607495504.14 epoch sec; seqNo:293 2020-12-09T06:31:44Z- AHRS_M2 msg: 4.67 phi; -0.07 theta; -0.20 psi 2020-12-09T06:31:44Z- waiting for 1607495505.97, time is 1607495503.78 2020-12-09T06:31:44Z- sync is 0.37, coherence is 2.00 2020-12-09T06:31:44Z- handleDepth()-Depth_Keller msg: 8.02 epoch sec; seqNo:1607495504157; depth 0.00 2020-12-09T06:31:44Z- waiting for 1607495505.97, time is 1607495503.78 2020-12-09T06:31:44Z- sync is 0.37, coherence is 2.00 2020-12-09T06:31:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495504.17 epoch sec; seqNo:309; 4061670.56 north; 594635.83 east 2020-12-09T06:31:44Z- waiting for 1607495505.97, time is 1607495503.78 2020-12-09T06:31:44Z- sync is 0.40, coherence is 2.00 2020-12-09T06:31:44Z- AHRS_M2 msg: 1607495504.55 epoch sec; seqNo:294 2020-12-09T06:31:44Z- AHRS_M2 msg: 4.68 phi; -0.07 theta; -0.19 psi 2020-12-09T06:31:44Z- waiting for 1607495505.97, time is 1607495503.78 2020-12-09T06:31:44Z- sync is 0.77, coherence is 2.00 2020-12-09T06:31:44Z- handleDepth()-Depth_Keller msg: 8.03 epoch sec; seqNo:1607495504554; depth 0.00 2020-12-09T06:31:44Z- waiting for 1607495505.97, time is 1607495503.78 2020-12-09T06:31:44Z- sync is 0.77, coherence is 2.00 2020-12-09T06:31:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495504.56 epoch sec; seqNo:310; 4061670.56 north; 594635.83 east 2020-12-09T06:31:44Z- waiting for 1607495505.97, time is 1607495503.78 2020-12-09T06:31:44Z- sync is 0.79, coherence is 2.00 2020-12-09T06:31:44Z- AHRS_M2 msg: 1607495504.95 epoch sec; seqNo:295 2020-12-09T06:31:44Z- AHRS_M2 msg: 4.68 phi; -0.07 theta; -0.18 psi 2020-12-09T06:31:44Z- waiting for 1607495505.97, time is 1607495503.78 2020-12-09T06:31:44Z- sync is 1.18, coherence is 2.00 2020-12-09T06:31:44Z- handleDepth()-Depth_Keller msg: 8.05 epoch sec; seqNo:1607495504959; depth 0.00 2020-12-09T06:31:44Z- waiting for 1607495505.97, time is 1607495503.78 2020-12-09T06:31:44Z- sync is 1.18, coherence is 2.00 2020-12-09T06:31:44Z- handleDvl() - RDI_Pathfinder msg: 1607495505.00 epoch sec; seqNo:163 2020-12-09T06:31:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.73 , 92.49 , 72.26 , 86.01 2020-12-09T06:31:44Z- handleDvl() - RDI_Pathfinder msg: velocities 1.72 , 0.34 , -0.50 2020-12-09T06:31:44Z- waiting for 1607495505.97, time is 1607495505.00 2020-12-09T06:31:44Z- sync is 0.05, coherence is 2.00 2020-12-09T06:31:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495505.01 epoch sec; seqNo:311; 4061670.54 north; 594634.61 east 2020-12-09T06:31:45Z- waiting for 1607495505.97, time is 1607495505.00 2020-12-09T06:31:45Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:45Z- AHRS_M2 msg: 1607495505.35 epoch sec; seqNo:296 2020-12-09T06:31:45Z- AHRS_M2 msg: 4.68 phi; -0.07 theta; -0.18 psi 2020-12-09T06:31:45Z- waiting for 1607495505.97, time is 1607495505.00 2020-12-09T06:31:45Z- sync is 0.35, coherence is 2.00 2020-12-09T06:31:45Z- handleDepth()-Depth_Keller msg: 8.06 epoch sec; seqNo:1607495505358; depth 0.00 2020-12-09T06:31:45Z- waiting for 1607495505.97, time is 1607495505.00 2020-12-09T06:31:45Z- sync is 0.35, coherence is 2.00 2020-12-09T06:31:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495505.37 epoch sec; seqNo:312; 4061670.54 north; 594634.61 east 2020-12-09T06:31:45Z- waiting for 1607495505.97, time is 1607495505.00 2020-12-09T06:31:45Z- sync is 0.37, coherence is 2.00 2020-12-09T06:31:45Z- AHRS_M2 msg: 1607495505.76 epoch sec; seqNo:297 2020-12-09T06:31:45Z- AHRS_M2 msg: 4.67 phi; -0.07 theta; -0.17 psi 2020-12-09T06:31:45Z- waiting for 1607495505.97, time is 1607495505.00 2020-12-09T06:31:45Z- sync is 0.76, coherence is 2.00 2020-12-09T06:31:45Z- handleDepth()-Depth_Keller msg: 8.10 epoch sec; seqNo:1607495505763; depth 0.00 2020-12-09T06:31:45Z- waiting for 1607495505.97, time is 1607495505.00 2020-12-09T06:31:45Z- sync is 0.76, coherence is 2.00 2020-12-09T06:31:45Z- handleDvl() - RDI_Pathfinder msg: 1607495505.78 epoch sec; seqNo:164 2020-12-09T06:31:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.54 , 89.25 , 71.85 , 86.01 2020-12-09T06:31:45Z- handleDvl() - RDI_Pathfinder msg: velocities 1.81 , 0.57 , -0.10 2020-12-09T06:31:45Z- waiting for 1607495505.97, time is 1607495505.78 2020-12-09T06:31:45Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495505.79 epoch sec; seqNo:313; 4061670.53 north; 594633.39 east 2020-12-09T06:31:45Z- waiting for 1607495505.97, time is 1607495505.78 2020-12-09T06:31:45Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:46Z- AHRS_M2 msg: 1607495506.16 epoch sec; seqNo:298 2020-12-09T06:31:46Z- AHRS_M2 msg: 4.67 phi; -0.07 theta; -0.17 psi 2020-12-09T06:31:46Z- waiting for 1607495505.97, time is 1607495505.78 2020-12-09T06:31:46Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:46Z- handleDepth()-Depth_Keller msg: 8.13 epoch sec; seqNo:1607495506166; depth 0.00 2020-12-09T06:31:46Z- waiting for 1607495505.97, time is 1607495505.78 2020-12-09T06:31:46Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:46Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:46Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:46Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:46Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:31:46Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:31:46Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:31:46Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:31:46Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:31:46Z- handleDvl() - RDI_Pathfinder msg: 1607495506.17 epoch sec; seqNo:165 2020-12-09T06:31:46Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:31:46Z- handleDvl() - RDI_Pathfinder msg: velocities 1.81 , 0.57 , -0.10 2020-12-09T06:31:46Z- waiting for 1607495505.97, time is 1607495506.17 2020-12-09T06:31:46Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:46Z- LcmTrn::updateTrn() >>>> pose time 1607495506.16, meas time 1607495506.17 <<<< 2020-12-09T06:31:46Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495506.17, ping # 0. 2020-12-09T06:31:46Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495506.17 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:31:46Z- TerrainNav::motionUpdate() - currEstimate = (4061671, 594633.39, 8.13) 2020-12-09T06:31:46Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:31:46Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:31:46Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:31:46Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:31:46Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:31:46Z- TNavBF::mmse selected from filter -1 2020-12-09T06:31:46Z- variances([0], [2], and psi_berg) = 821.396137 833.170226 0.000000 2020-12-09T06:31:46Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:31:46Z- LcmTrn::cycle() - MLE : 4061634.03 594583.89 8.13 2020-12-09T06:31:46Z- LcmTrn::cycle() - MMSE : 4061670.53 594633.39 8.13 2020-12-09T06:31:46Z- LcmTrn::cycle() - COVAR: 821.40 833.17 29.88 0.00 2020-12-09T06:31:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495506.19 epoch sec; seqNo:314; 4061670.91 north; 594633.38 east 2020-12-09T06:31:46Z- waiting for 1607495509.17, time is 1607495506.17 2020-12-09T06:31:46Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:46Z- AHRS_M2 msg: 1607495506.57 epoch sec; seqNo:299 2020-12-09T06:31:46Z- AHRS_M2 msg: 4.66 phi; -0.07 theta; -0.18 psi 2020-12-09T06:31:46Z- waiting for 1607495509.17, time is 1607495506.17 2020-12-09T06:31:46Z- sync is 0.40, coherence is 2.00 2020-12-09T06:31:46Z- handleDepth()-Depth_Keller msg: 8.16 epoch sec; seqNo:1607495506574; depth 0.00 2020-12-09T06:31:46Z- waiting for 1607495509.17, time is 1607495506.17 2020-12-09T06:31:46Z- sync is 0.40, coherence is 2.00 2020-12-09T06:31:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495506.58 epoch sec; seqNo:315; 4061670.90 north; 594632.16 east 2020-12-09T06:31:46Z- waiting for 1607495509.17, time is 1607495506.17 2020-12-09T06:31:46Z- sync is 0.41, coherence is 2.00 2020-12-09T06:31:46Z- AHRS_M2 msg: 1607495506.97 epoch sec; seqNo:300 2020-12-09T06:31:46Z- AHRS_M2 msg: 4.65 phi; -0.07 theta; -0.19 psi 2020-12-09T06:31:46Z- waiting for 1607495509.17, time is 1607495506.17 2020-12-09T06:31:46Z- sync is 0.80, coherence is 2.00 2020-12-09T06:31:46Z- handleDepth()-Depth_Keller msg: 8.20 epoch sec; seqNo:1607495506972; depth 0.00 2020-12-09T06:31:46Z- waiting for 1607495509.17, time is 1607495506.17 2020-12-09T06:31:46Z- sync is 0.80, coherence is 2.00 2020-12-09T06:31:46Z- handleDvl() - RDI_Pathfinder msg: 1607495506.99 epoch sec; seqNo:166 2020-12-09T06:31:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.36 , 89.25 , 72.26 , 86.01 2020-12-09T06:31:46Z- handleDvl() - RDI_Pathfinder msg: velocities 1.69 , 0.60 , 0.30 2020-12-09T06:31:46Z- waiting for 1607495509.17, time is 1607495506.99 2020-12-09T06:31:46Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495507.02 epoch sec; seqNo:316; 4061671.26 north; 594630.94 east 2020-12-09T06:31:47Z- waiting for 1607495509.17, time is 1607495506.99 2020-12-09T06:31:47Z- sync is 0.03, coherence is 2.00 2020-12-09T06:31:47Z- AHRS_M2 msg: 1607495507.38 epoch sec; seqNo:301 2020-12-09T06:31:47Z- AHRS_M2 msg: 4.63 phi; -0.08 theta; -0.20 psi 2020-12-09T06:31:47Z- waiting for 1607495509.17, time is 1607495506.99 2020-12-09T06:31:47Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:47Z- handleDepth()-Depth_Keller msg: 8.25 epoch sec; seqNo:1607495507379; depth 0.00 2020-12-09T06:31:47Z- waiting for 1607495509.17, time is 1607495506.99 2020-12-09T06:31:47Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:47Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:47Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:47Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:47Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:31:47Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:31:47Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:31:47Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:31:47Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:31:47Z- handleDvl() - RDI_Pathfinder msg: 1607495507.38 epoch sec; seqNo:167 2020-12-09T06:31:47Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:31:47Z- handleDvl() - RDI_Pathfinder msg: velocities 1.69 , 0.60 , 0.30 2020-12-09T06:31:47Z- waiting for 1607495509.17, time is 1607495507.38 2020-12-09T06:31:47Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495507.39 epoch sec; seqNo:317; 4061671.26 north; 594630.94 east 2020-12-09T06:31:47Z- waiting for 1607495509.17, time is 1607495507.38 2020-12-09T06:31:47Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:47Z- AHRS_M2 msg: 1607495507.78 epoch sec; seqNo:302 2020-12-09T06:31:47Z- AHRS_M2 msg: 4.62 phi; -0.08 theta; -0.22 psi 2020-12-09T06:31:47Z- waiting for 1607495509.17, time is 1607495507.38 2020-12-09T06:31:47Z- sync is 0.40, coherence is 2.00 2020-12-09T06:31:47Z- handleDepth()-Depth_Keller msg: 8.30 epoch sec; seqNo:1607495507786; depth 0.00 2020-12-09T06:31:47Z- waiting for 1607495509.17, time is 1607495507.38 2020-12-09T06:31:47Z- sync is 0.40, coherence is 2.00 2020-12-09T06:31:47Z- handleDvl() - RDI_Pathfinder msg: 1607495507.80 epoch sec; seqNo:168 2020-12-09T06:31:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.54 , 92.49 , 72.67 , 86.01 2020-12-09T06:31:47Z- handleDvl() - RDI_Pathfinder msg: velocities 1.39 , 0.54 , 0.63 2020-12-09T06:31:47Z- waiting for 1607495509.17, time is 1607495507.80 2020-12-09T06:31:47Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495507.83 epoch sec; seqNo:318; 4061671.63 north; 594629.71 east 2020-12-09T06:31:47Z- waiting for 1607495509.17, time is 1607495507.80 2020-12-09T06:31:47Z- sync is 0.03, coherence is 2.00 2020-12-09T06:31:48Z- AHRS_M2 msg: 1607495508.18 epoch sec; seqNo:303 2020-12-09T06:31:48Z- AHRS_M2 msg: 4.61 phi; -0.09 theta; -0.23 psi 2020-12-09T06:31:48Z- waiting for 1607495509.17, time is 1607495507.80 2020-12-09T06:31:48Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:48Z- handleDepth()-Depth_Keller msg: 8.34 epoch sec; seqNo:1607495508188; depth 0.00 2020-12-09T06:31:48Z- waiting for 1607495509.17, time is 1607495507.80 2020-12-09T06:31:48Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495508.20 epoch sec; seqNo:319; 4061672.01 north; 594629.71 east 2020-12-09T06:31:48Z- waiting for 1607495509.17, time is 1607495507.80 2020-12-09T06:31:48Z- sync is 0.40, coherence is 2.00 2020-12-09T06:31:48Z- AHRS_M2 msg: 1607495508.58 epoch sec; seqNo:304 2020-12-09T06:31:48Z- AHRS_M2 msg: 4.59 phi; -0.10 theta; -0.25 psi 2020-12-09T06:31:48Z- waiting for 1607495509.17, time is 1607495507.80 2020-12-09T06:31:48Z- sync is 0.79, coherence is 2.00 2020-12-09T06:31:48Z- handleDepth()-Depth_Keller msg: 8.40 epoch sec; seqNo:1607495508590; depth 0.00 2020-12-09T06:31:48Z- waiting for 1607495509.17, time is 1607495507.80 2020-12-09T06:31:48Z- sync is 0.79, coherence is 2.00 2020-12-09T06:31:48Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:48Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:48Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:48Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:31:48Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:31:48Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:31:48Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:31:48Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:31:48Z- handleDvl() - RDI_Pathfinder msg: 1607495508.60 epoch sec; seqNo:169 2020-12-09T06:31:48Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:31:48Z- handleDvl() - RDI_Pathfinder msg: velocities 1.39 , 0.54 , 0.63 2020-12-09T06:31:48Z- waiting for 1607495509.17, time is 1607495508.60 2020-12-09T06:31:48Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495508.62 epoch sec; seqNo:320; 4061671.99 north; 594628.49 east 2020-12-09T06:31:48Z- waiting for 1607495509.17, time is 1607495508.60 2020-12-09T06:31:48Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:48Z- AHRS_M2 msg: 1607495508.99 epoch sec; seqNo:305 2020-12-09T06:31:48Z- AHRS_M2 msg: 4.58 phi; -0.11 theta; -0.26 psi 2020-12-09T06:31:48Z- waiting for 1607495509.17, time is 1607495508.60 2020-12-09T06:31:48Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:48Z- handleDepth()-Depth_Keller msg: 8.44 epoch sec; seqNo:1607495508998; depth 0.00 2020-12-09T06:31:48Z- waiting for 1607495509.17, time is 1607495508.60 2020-12-09T06:31:48Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:49Z- handleDvl() - RDI_Pathfinder msg: 1607495509.02 epoch sec; seqNo:170 2020-12-09T06:31:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.36 , 96.81 , 73.89 , 88.17 2020-12-09T06:31:49Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.32 , 0.79 2020-12-09T06:31:49Z- waiting for 1607495509.17, time is 1607495509.02 2020-12-09T06:31:49Z- sync is 0.03, coherence is 2.00 2020-12-09T06:31:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495509.05 epoch sec; seqNo:321; 4061672.37 north; 594628.48 east 2020-12-09T06:31:49Z- waiting for 1607495509.17, time is 1607495509.02 2020-12-09T06:31:49Z- sync is 0.03, coherence is 2.00 2020-12-09T06:31:49Z- AHRS_M2 msg: 1607495509.39 epoch sec; seqNo:306 2020-12-09T06:31:49Z- AHRS_M2 msg: 4.57 phi; -0.12 theta; -0.27 psi 2020-12-09T06:31:49Z- waiting for 1607495509.17, time is 1607495509.02 2020-12-09T06:31:49Z- sync is 0.37, coherence is 2.00 2020-12-09T06:31:49Z- handleDepth()-Depth_Keller msg: 8.48 epoch sec; seqNo:1607495509400; depth 0.00 2020-12-09T06:31:49Z- waiting for 1607495509.17, time is 1607495509.02 2020-12-09T06:31:49Z- sync is 0.37, coherence is 2.00 2020-12-09T06:31:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495509.41 epoch sec; seqNo:322; 4061672.37 north; 594628.48 east 2020-12-09T06:31:49Z- waiting for 1607495509.17, time is 1607495509.02 2020-12-09T06:31:49Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:49Z- AHRS_M2 msg: 1607495509.80 epoch sec; seqNo:307 2020-12-09T06:31:49Z- AHRS_M2 msg: 4.57 phi; -0.14 theta; -0.29 psi 2020-12-09T06:31:49Z- waiting for 1607495509.17, time is 1607495509.02 2020-12-09T06:31:49Z- sync is 0.78, coherence is 2.00 2020-12-09T06:31:49Z- handleDepth()-Depth_Keller msg: 8.52 epoch sec; seqNo:1607495509804; depth 0.00 2020-12-09T06:31:49Z- waiting for 1607495509.17, time is 1607495509.02 2020-12-09T06:31:49Z- sync is 0.78, coherence is 2.00 2020-12-09T06:31:49Z- handleDvl() - RDI_Pathfinder msg: 1607495509.82 epoch sec; seqNo:171 2020-12-09T06:31:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.77 , 102.07 , 73.89 , 0.00 2020-12-09T06:31:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.69 , 0.08 , 0.67 2020-12-09T06:31:49Z- waiting for 1607495509.17, time is 1607495509.82 2020-12-09T06:31:49Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:49Z- LcmTrn::updateTrn() >>>> pose time 1607495509.80, meas time 1607495509.82 <<<< 2020-12-09T06:31:49Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495509.82 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:31:49Z- TerrainNav::motionUpdate() - currEstimate = (4061672, 594628.48, 8.52) 2020-12-09T06:31:49Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:31:49Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:31:49Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:31:49Z- TNavBF::mmse selected from filter -1 2020-12-09T06:31:49Z- variances([0], [2], and psi_berg) = 820.940365 833.168075 0.000000 2020-12-09T06:31:49Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:31:49Z- LcmTrn::cycle() - MLE : 4061635.87 594579.98 8.52 2020-12-09T06:31:49Z- LcmTrn::cycle() - MMSE : 4061672.37 594628.48 8.52 2020-12-09T06:31:49Z- LcmTrn::cycle() - COVAR: 820.94 833.17 30.15 0.00 2020-12-09T06:31:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495509.83 epoch sec; seqNo:323; 4061672.37 north; 594628.48 east 2020-12-09T06:31:49Z- waiting for 1607495512.82, time is 1607495509.82 2020-12-09T06:31:49Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:50Z- AHRS_M2 msg: 1607495510.20 epoch sec; seqNo:308 2020-12-09T06:31:50Z- AHRS_M2 msg: 4.57 phi; -0.15 theta; -0.30 psi 2020-12-09T06:31:50Z- waiting for 1607495512.82, time is 1607495509.82 2020-12-09T06:31:50Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:50Z- handleDepth()-Depth_Keller msg: 8.56 epoch sec; seqNo:1607495510209; depth 0.00 2020-12-09T06:31:50Z- waiting for 1607495512.82, time is 1607495509.82 2020-12-09T06:31:50Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495510.24 epoch sec; seqNo:324; 4061672.36 north; 594627.26 east 2020-12-09T06:31:50Z- waiting for 1607495512.82, time is 1607495509.82 2020-12-09T06:31:50Z- sync is 0.42, coherence is 2.00 2020-12-09T06:31:50Z- AHRS_M2 msg: 1607495510.62 epoch sec; seqNo:309 2020-12-09T06:31:50Z- AHRS_M2 msg: 4.58 phi; -0.15 theta; -0.31 psi 2020-12-09T06:31:50Z- waiting for 1607495512.82, time is 1607495509.82 2020-12-09T06:31:50Z- sync is 0.81, coherence is 2.00 2020-12-09T06:31:50Z- handleDepth()-Depth_Keller msg: 8.60 epoch sec; seqNo:1607495510643; depth 0.00 2020-12-09T06:31:50Z- waiting for 1607495512.82, time is 1607495509.82 2020-12-09T06:31:50Z- sync is 0.81, coherence is 2.00 2020-12-09T06:31:50Z- handleDvl() - RDI_Pathfinder msg: 1607495510.66 epoch sec; seqNo:172 2020-12-09T06:31:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.77 , 103.22 , 75.12 , 94.58 2020-12-09T06:31:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.64 , -0.10 , 0.40 2020-12-09T06:31:50Z- waiting for 1607495512.82, time is 1607495510.66 2020-12-09T06:31:50Z- sync is 0.04, coherence is 2.00 2020-12-09T06:31:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495510.67 epoch sec; seqNo:325; 4061672.36 north; 594627.26 east 2020-12-09T06:31:50Z- waiting for 1607495512.82, time is 1607495510.66 2020-12-09T06:31:50Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:51Z- AHRS_M2 msg: 1607495511.02 epoch sec; seqNo:310 2020-12-09T06:31:51Z- AHRS_M2 msg: 4.60 phi; -0.15 theta; -0.30 psi 2020-12-09T06:31:51Z- waiting for 1607495512.82, time is 1607495510.66 2020-12-09T06:31:51Z- sync is 0.36, coherence is 2.00 2020-12-09T06:31:51Z- handleDepth()-Depth_Keller msg: 8.63 epoch sec; seqNo:1607495511023; depth 0.00 2020-12-09T06:31:51Z- waiting for 1607495512.82, time is 1607495510.66 2020-12-09T06:31:51Z- sync is 0.36, coherence is 2.00 2020-12-09T06:31:51Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:51Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:51Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:51Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:31:51Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:31:51Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:31:51Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:31:51Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:31:51Z- handleDvl() - RDI_Pathfinder msg: 1607495511.03 epoch sec; seqNo:173 2020-12-09T06:31:51Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:31:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.64 , -0.10 , 0.40 2020-12-09T06:31:51Z- waiting for 1607495512.82, time is 1607495511.03 2020-12-09T06:31:51Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495511.04 epoch sec; seqNo:326; 4061672.36 north; 594627.26 east 2020-12-09T06:31:51Z- waiting for 1607495512.82, time is 1607495511.03 2020-12-09T06:31:51Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:51Z- AHRS_M2 msg: 1607495511.42 epoch sec; seqNo:311 2020-12-09T06:31:51Z- AHRS_M2 msg: 4.60 phi; -0.15 theta; -0.29 psi 2020-12-09T06:31:51Z- waiting for 1607495512.82, time is 1607495511.03 2020-12-09T06:31:51Z- sync is 0.40, coherence is 2.00 2020-12-09T06:31:51Z- handleDepth()-Depth_Keller msg: 8.68 epoch sec; seqNo:1607495511429; depth 0.00 2020-12-09T06:31:51Z- waiting for 1607495512.82, time is 1607495511.03 2020-12-09T06:31:51Z- sync is 0.40, coherence is 2.00 2020-12-09T06:31:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495511.44 epoch sec; seqNo:327; 4061672.36 north; 594627.26 east 2020-12-09T06:31:51Z- waiting for 1607495512.82, time is 1607495511.03 2020-12-09T06:31:51Z- sync is 0.41, coherence is 2.00 2020-12-09T06:31:51Z- AHRS_M2 msg: 1607495511.82 epoch sec; seqNo:312 2020-12-09T06:31:51Z- AHRS_M2 msg: 4.61 phi; -0.15 theta; -0.28 psi 2020-12-09T06:31:51Z- waiting for 1607495512.82, time is 1607495511.03 2020-12-09T06:31:51Z- sync is 0.79, coherence is 2.00 2020-12-09T06:31:51Z- handleDepth()-Depth_Keller msg: 8.73 epoch sec; seqNo:1607495511822; depth 0.00 2020-12-09T06:31:51Z- waiting for 1607495512.82, time is 1607495511.03 2020-12-09T06:31:51Z- sync is 0.79, coherence is 2.00 2020-12-09T06:31:51Z- handleDvl() - RDI_Pathfinder msg: 1607495511.84 epoch sec; seqNo:174 2020-12-09T06:31:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.77 , 103.02 , 74.30 , 95.73 2020-12-09T06:31:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.68 , -0.17 , 0.19 2020-12-09T06:31:51Z- waiting for 1607495512.82, time is 1607495511.84 2020-12-09T06:31:51Z- sync is 0.03, coherence is 2.00 2020-12-09T06:31:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495511.85 epoch sec; seqNo:328; 4061672.36 north; 594627.26 east 2020-12-09T06:31:51Z- waiting for 1607495512.82, time is 1607495511.84 2020-12-09T06:31:51Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:52Z- AHRS_M2 msg: 1607495512.22 epoch sec; seqNo:313 2020-12-09T06:31:52Z- AHRS_M2 msg: 4.60 phi; -0.15 theta; -0.26 psi 2020-12-09T06:31:52Z- waiting for 1607495512.82, time is 1607495511.84 2020-12-09T06:31:52Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:52Z- handleDepth()-Depth_Keller msg: 8.77 epoch sec; seqNo:1607495512230; depth 0.00 2020-12-09T06:31:52Z- waiting for 1607495512.82, time is 1607495511.84 2020-12-09T06:31:52Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495512.24 epoch sec; seqNo:329; 4061672.34 north; 594626.04 east 2020-12-09T06:31:52Z- waiting for 1607495512.82, time is 1607495511.84 2020-12-09T06:31:52Z- sync is 0.40, coherence is 2.00 2020-12-09T06:31:52Z- handleDepth()-Depth_Keller msg: 8.83 epoch sec; seqNo:1607495512658; depth 0.00 2020-12-09T06:31:52Z- waiting for 1607495512.82, time is 1607495511.84 2020-12-09T06:31:52Z- sync is 0.40, coherence is 2.00 2020-12-09T06:31:52Z- handleDvl() - RDI_Pathfinder msg: 1607495512.67 epoch sec; seqNo:175 2020-12-09T06:31:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.77 , 96.94 , 73.89 , 98.16 2020-12-09T06:31:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.15 , 0.13 2020-12-09T06:31:52Z- waiting for 1607495512.82, time is 1607495512.67 2020-12-09T06:31:52Z- sync is 0.43, coherence is 2.00 2020-12-09T06:31:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495512.68 epoch sec; seqNo:330; 4061672.34 north; 594626.04 east 2020-12-09T06:31:52Z- waiting for 1607495512.82, time is 1607495512.67 2020-12-09T06:31:52Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:53Z- AHRS_M2 msg: 1607495513.03 epoch sec; seqNo:314 2020-12-09T06:31:53Z- AHRS_M2 msg: 4.59 phi; -0.16 theta; -0.23 psi 2020-12-09T06:31:53Z- waiting for 1607495512.82, time is 1607495512.67 2020-12-09T06:31:53Z- sync is 0.36, coherence is 2.00 2020-12-09T06:31:53Z- handleDepth()-Depth_Keller msg: 8.88 epoch sec; seqNo:1607495513038; depth 0.00 2020-12-09T06:31:53Z- waiting for 1607495512.82, time is 1607495512.67 2020-12-09T06:31:53Z- sync is 0.36, coherence is 2.00 2020-12-09T06:31:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495513.05 epoch sec; seqNo:331; 4061671.96 north; 594626.05 east 2020-12-09T06:31:53Z- waiting for 1607495512.82, time is 1607495512.67 2020-12-09T06:31:53Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:53Z- AHRS_M2 msg: 1607495513.43 epoch sec; seqNo:315 2020-12-09T06:31:53Z- AHRS_M2 msg: 4.59 phi; -0.17 theta; -0.23 psi 2020-12-09T06:31:53Z- waiting for 1607495512.82, time is 1607495512.67 2020-12-09T06:31:53Z- sync is 0.76, coherence is 2.00 2020-12-09T06:31:53Z- handleDepth()-Depth_Keller msg: 8.93 epoch sec; seqNo:1607495513451; depth 0.00 2020-12-09T06:31:53Z- waiting for 1607495512.82, time is 1607495512.67 2020-12-09T06:31:53Z- sync is 0.76, coherence is 2.00 2020-12-09T06:31:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495513.46 epoch sec; seqNo:332; 4061671.96 north; 594626.05 east 2020-12-09T06:31:53Z- waiting for 1607495512.82, time is 1607495512.67 2020-12-09T06:31:53Z- sync is 0.79, coherence is 2.00 2020-12-09T06:31:53Z- AHRS_M2 msg: 1607495513.84 epoch sec; seqNo:316 2020-12-09T06:31:53Z- AHRS_M2 msg: 4.58 phi; -0.17 theta; -0.23 psi 2020-12-09T06:31:53Z- waiting for 1607495512.82, time is 1607495512.67 2020-12-09T06:31:53Z- sync is 1.16, coherence is 2.00 2020-12-09T06:31:53Z- handleDepth()-Depth_Keller msg: 9.00 epoch sec; seqNo:1607495513846; depth 0.00 2020-12-09T06:31:53Z- waiting for 1607495512.82, time is 1607495512.67 2020-12-09T06:31:53Z- sync is 1.16, coherence is 2.00 2020-12-09T06:31:53Z- handleDvl() - RDI_Pathfinder msg: 1607495513.86 epoch sec; seqNo:176 2020-12-09T06:31:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.59 , 97.01 , 73.08 , 98.22 2020-12-09T06:31:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.66 , -0.15 , 0.10 2020-12-09T06:31:53Z- waiting for 1607495512.82, time is 1607495513.86 2020-12-09T06:31:53Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:53Z- LcmTrn::updateTrn() >>>> pose time 1607495513.84, meas time 1607495513.86 <<<< 2020-12-09T06:31:53Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495513.86 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:31:53Z- TerrainNav::motionUpdate() - currEstimate = (4061672, 594626.05, 9.00) 2020-12-09T06:31:53Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:31:53Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:31:53Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:31:53Z- TNavBF::mmse selected from filter -1 2020-12-09T06:31:53Z- variances([0], [2], and psi_berg) = 820.631699 833.166651 0.000000 2020-12-09T06:31:53Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:31:53Z- LcmTrn::cycle() - MLE : 4061635.46 594578.55 9.00 2020-12-09T06:31:53Z- LcmTrn::cycle() - MMSE : 4061671.96 594626.05 9.00 2020-12-09T06:31:53Z- LcmTrn::cycle() - COVAR: 820.63 833.17 30.28 0.00 2020-12-09T06:31:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495513.88 epoch sec; seqNo:333; 4061671.96 north; 594626.05 east 2020-12-09T06:31:53Z- waiting for 1607495516.86, time is 1607495513.86 2020-12-09T06:31:53Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:54Z- AHRS_M2 msg: 1607495514.24 epoch sec; seqNo:317 2020-12-09T06:31:54Z- AHRS_M2 msg: 4.58 phi; -0.18 theta; -0.24 psi 2020-12-09T06:31:54Z- waiting for 1607495516.86, time is 1607495513.86 2020-12-09T06:31:54Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:54Z- handleDepth()-Depth_Keller msg: 9.04 epoch sec; seqNo:1607495514247; depth 0.00 2020-12-09T06:31:54Z- waiting for 1607495516.86, time is 1607495513.86 2020-12-09T06:31:54Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495514.26 epoch sec; seqNo:334; 4061671.95 north; 594624.83 east 2020-12-09T06:31:54Z- waiting for 1607495516.86, time is 1607495513.86 2020-12-09T06:31:54Z- sync is 0.40, coherence is 2.00 2020-12-09T06:31:54Z- AHRS_M2 msg: 1607495514.65 epoch sec; seqNo:318 2020-12-09T06:31:54Z- AHRS_M2 msg: 4.58 phi; -0.19 theta; -0.24 psi 2020-12-09T06:31:54Z- waiting for 1607495516.86, time is 1607495513.86 2020-12-09T06:31:54Z- sync is 0.79, coherence is 2.00 2020-12-09T06:31:54Z- handleDepth()-Depth_Keller msg: 9.09 epoch sec; seqNo:1607495514651; depth 0.00 2020-12-09T06:31:54Z- waiting for 1607495516.86, time is 1607495513.86 2020-12-09T06:31:54Z- sync is 0.79, coherence is 2.00 2020-12-09T06:31:54Z- handleDvl() - RDI_Pathfinder msg: 1607495514.67 epoch sec; seqNo:177 2020-12-09T06:31:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.59 , 99.44 , 71.85 , 95.79 2020-12-09T06:31:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.58 , -0.17 , -0.05 2020-12-09T06:31:54Z- waiting for 1607495516.86, time is 1607495514.67 2020-12-09T06:31:54Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495514.69 epoch sec; seqNo:335; 4061671.95 north; 594624.83 east 2020-12-09T06:31:54Z- waiting for 1607495516.86, time is 1607495514.67 2020-12-09T06:31:54Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:55Z- AHRS_M2 msg: 1607495515.05 epoch sec; seqNo:319 2020-12-09T06:31:55Z- AHRS_M2 msg: 4.58 phi; -0.19 theta; -0.25 psi 2020-12-09T06:31:55Z- waiting for 1607495516.86, time is 1607495514.67 2020-12-09T06:31:55Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:55Z- handleDepth()-Depth_Keller msg: 9.14 epoch sec; seqNo:1607495515058; depth 0.00 2020-12-09T06:31:55Z- waiting for 1607495516.86, time is 1607495514.67 2020-12-09T06:31:55Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495515.08 epoch sec; seqNo:336; 4061671.57 north; 594624.83 east 2020-12-09T06:31:55Z- waiting for 1607495516.86, time is 1607495514.67 2020-12-09T06:31:55Z- sync is 0.41, coherence is 2.00 2020-12-09T06:31:55Z- AHRS_M2 msg: 1607495515.45 epoch sec; seqNo:320 2020-12-09T06:31:55Z- AHRS_M2 msg: 4.58 phi; -0.20 theta; -0.26 psi 2020-12-09T06:31:55Z- waiting for 1607495516.86, time is 1607495514.67 2020-12-09T06:31:55Z- sync is 0.78, coherence is 2.00 2020-12-09T06:31:55Z- handleDepth()-Depth_Keller msg: 9.18 epoch sec; seqNo:1607495515459; depth 0.00 2020-12-09T06:31:55Z- waiting for 1607495516.86, time is 1607495514.67 2020-12-09T06:31:55Z- sync is 0.78, coherence is 2.00 2020-12-09T06:31:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495515.47 epoch sec; seqNo:337; 4061671.57 north; 594624.83 east 2020-12-09T06:31:55Z- waiting for 1607495516.86, time is 1607495514.67 2020-12-09T06:31:55Z- sync is 0.80, coherence is 2.00 2020-12-09T06:31:55Z- AHRS_M2 msg: 1607495515.86 epoch sec; seqNo:321 2020-12-09T06:31:55Z- AHRS_M2 msg: 4.59 phi; -0.20 theta; -0.27 psi 2020-12-09T06:31:55Z- waiting for 1607495516.86, time is 1607495514.67 2020-12-09T06:31:55Z- sync is 1.19, coherence is 2.00 2020-12-09T06:31:55Z- handleDepth()-Depth_Keller msg: 9.23 epoch sec; seqNo:1607495515862; depth 0.00 2020-12-09T06:31:55Z- waiting for 1607495516.86, time is 1607495514.67 2020-12-09T06:31:55Z- sync is 1.19, coherence is 2.00 2020-12-09T06:31:55Z- handleDvl() - RDI_Pathfinder msg: 1607495515.87 epoch sec; seqNo:178 2020-12-09T06:31:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.59 , 97.01 , 72.26 , 95.79 2020-12-09T06:31:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.67 , -0.17 , -0.28 2020-12-09T06:31:55Z- waiting for 1607495516.86, time is 1607495515.87 2020-12-09T06:31:55Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495515.89 epoch sec; seqNo:338; 4061671.57 north; 594624.83 east 2020-12-09T06:31:55Z- waiting for 1607495516.86, time is 1607495515.87 2020-12-09T06:31:55Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:56Z- AHRS_M2 msg: 1607495516.26 epoch sec; seqNo:322 2020-12-09T06:31:56Z- AHRS_M2 msg: 4.59 phi; -0.20 theta; -0.27 psi 2020-12-09T06:31:56Z- waiting for 1607495516.86, time is 1607495515.87 2020-12-09T06:31:56Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:56Z- handleDepth()-Depth_Keller msg: 9.28 epoch sec; seqNo:1607495516267; depth 0.00 2020-12-09T06:31:56Z- waiting for 1607495516.86, time is 1607495515.87 2020-12-09T06:31:56Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495516.28 epoch sec; seqNo:339; 4061671.18 north; 594623.62 east 2020-12-09T06:31:56Z- waiting for 1607495516.86, time is 1607495515.87 2020-12-09T06:31:56Z- sync is 0.41, coherence is 2.00 2020-12-09T06:31:56Z- AHRS_M2 msg: 1607495516.66 epoch sec; seqNo:323 2020-12-09T06:31:56Z- AHRS_M2 msg: 4.60 phi; -0.20 theta; -0.26 psi 2020-12-09T06:31:56Z- waiting for 1607495516.86, time is 1607495515.87 2020-12-09T06:31:56Z- sync is 0.79, coherence is 2.00 2020-12-09T06:31:56Z- handleDepth()-Depth_Keller msg: 9.32 epoch sec; seqNo:1607495516670; depth 0.00 2020-12-09T06:31:56Z- waiting for 1607495516.86, time is 1607495515.87 2020-12-09T06:31:56Z- sync is 0.79, coherence is 2.00 2020-12-09T06:31:56Z- handleDvl() - RDI_Pathfinder msg: 1607495516.69 epoch sec; seqNo:179 2020-12-09T06:31:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 68.18 , 99.51 , 71.04 , 98.29 2020-12-09T06:31:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , -0.14 , -0.51 2020-12-09T06:31:56Z- waiting for 1607495516.86, time is 1607495516.69 2020-12-09T06:31:56Z- sync is 0.03, coherence is 2.00 2020-12-09T06:31:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495516.70 epoch sec; seqNo:340; 4061671.18 north; 594623.62 east 2020-12-09T06:31:56Z- waiting for 1607495516.86, time is 1607495516.69 2020-12-09T06:31:56Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:57Z- AHRS_M2 msg: 1607495517.07 epoch sec; seqNo:324 2020-12-09T06:31:57Z- AHRS_M2 msg: 4.61 phi; -0.20 theta; -0.26 psi 2020-12-09T06:31:57Z- waiting for 1607495516.86, time is 1607495516.69 2020-12-09T06:31:57Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:57Z- handleDepth()-Depth_Keller msg: 9.37 epoch sec; seqNo:1607495517074; depth 0.00 2020-12-09T06:31:57Z- waiting for 1607495516.86, time is 1607495516.69 2020-12-09T06:31:57Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495517.09 epoch sec; seqNo:341; 4061671.18 north; 594623.62 east 2020-12-09T06:31:57Z- waiting for 1607495516.86, time is 1607495516.69 2020-12-09T06:31:57Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:57Z- AHRS_M2 msg: 1607495517.50 epoch sec; seqNo:325 2020-12-09T06:31:57Z- AHRS_M2 msg: 4.61 phi; -0.20 theta; -0.25 psi 2020-12-09T06:31:57Z- waiting for 1607495516.86, time is 1607495516.69 2020-12-09T06:31:57Z- sync is 0.81, coherence is 2.00 2020-12-09T06:31:57Z- handleDepth()-Depth_Keller msg: 9.41 epoch sec; seqNo:1607495517503; depth 0.00 2020-12-09T06:31:57Z- waiting for 1607495516.86, time is 1607495516.69 2020-12-09T06:31:57Z- sync is 0.81, coherence is 2.00 2020-12-09T06:31:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495517.53 epoch sec; seqNo:342; 4061670.79 north; 594622.40 east 2020-12-09T06:31:57Z- waiting for 1607495516.86, time is 1607495516.69 2020-12-09T06:31:57Z- sync is 0.84, coherence is 2.00 2020-12-09T06:31:57Z- AHRS_M2 msg: 1607495517.88 epoch sec; seqNo:326 2020-12-09T06:31:57Z- AHRS_M2 msg: 4.62 phi; -0.19 theta; -0.24 psi 2020-12-09T06:31:57Z- waiting for 1607495516.86, time is 1607495516.69 2020-12-09T06:31:57Z- sync is 1.19, coherence is 2.00 2020-12-09T06:31:57Z- handleDepth()-Depth_Keller msg: 9.48 epoch sec; seqNo:1607495517883; depth 0.00 2020-12-09T06:31:57Z- waiting for 1607495516.86, time is 1607495516.69 2020-12-09T06:31:57Z- sync is 1.19, coherence is 2.00 2020-12-09T06:31:57Z- handleDvl() - RDI_Pathfinder msg: 1607495517.90 epoch sec; seqNo:180 2020-12-09T06:31:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.77 , 97.01 , 70.63 , 98.22 2020-12-09T06:31:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.12 , -0.05 , -0.59 2020-12-09T06:31:57Z- waiting for 1607495516.86, time is 1607495517.90 2020-12-09T06:31:57Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:57Z- LcmTrn::updateTrn() >>>> pose time 1607495517.88, meas time 1607495517.90 <<<< 2020-12-09T06:31:57Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495517.90 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:31:57Z- TerrainNav::motionUpdate() - currEstimate = (4061671, 594622.40, 9.48) 2020-12-09T06:31:57Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:31:57Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:31:57Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:31:57Z- TNavBF::mmse selected from filter -1 2020-12-09T06:31:57Z- variances([0], [2], and psi_berg) = 820.250735 833.164920 0.000000 2020-12-09T06:31:57Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:31:57Z- LcmTrn::cycle() - MLE : 4061634.29 594574.90 9.48 2020-12-09T06:31:57Z- LcmTrn::cycle() - MMSE : 4061670.79 594622.40 9.48 2020-12-09T06:31:57Z- LcmTrn::cycle() - COVAR: 820.25 833.16 30.47 0.00 2020-12-09T06:31:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495517.91 epoch sec; seqNo:343; 4061670.79 north; 594622.40 east 2020-12-09T06:31:57Z- waiting for 1607495520.90, time is 1607495517.90 2020-12-09T06:31:57Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:58Z- AHRS_M2 msg: 1607495518.28 epoch sec; seqNo:327 2020-12-09T06:31:58Z- AHRS_M2 msg: 4.62 phi; -0.19 theta; -0.23 psi 2020-12-09T06:31:58Z- waiting for 1607495520.90, time is 1607495517.90 2020-12-09T06:31:58Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:58Z- handleDepth()-Depth_Keller msg: 9.52 epoch sec; seqNo:1607495518286; depth 0.00 2020-12-09T06:31:58Z- waiting for 1607495520.90, time is 1607495517.90 2020-12-09T06:31:58Z- sync is 0.38, coherence is 2.00 2020-12-09T06:31:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:58Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:31:58Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:31:58Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:31:58Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:31:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:31:58Z- handleDvl() - RDI_Pathfinder msg: 1607495518.29 epoch sec; seqNo:181 2020-12-09T06:31:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:31:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.12 , -0.05 , -0.59 2020-12-09T06:31:58Z- waiting for 1607495520.90, time is 1607495518.29 2020-12-09T06:31:58Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495518.32 epoch sec; seqNo:344; 4061670.79 north; 594622.40 east 2020-12-09T06:31:58Z- waiting for 1607495520.90, time is 1607495518.29 2020-12-09T06:31:58Z- sync is 0.03, coherence is 2.00 2020-12-09T06:31:58Z- AHRS_M2 msg: 1607495518.68 epoch sec; seqNo:328 2020-12-09T06:31:58Z- AHRS_M2 msg: 4.62 phi; -0.19 theta; -0.22 psi 2020-12-09T06:31:58Z- waiting for 1607495520.90, time is 1607495518.29 2020-12-09T06:31:58Z- sync is 0.40, coherence is 2.00 2020-12-09T06:31:58Z- handleDepth()-Depth_Keller msg: 9.57 epoch sec; seqNo:1607495518690; depth 0.00 2020-12-09T06:31:58Z- waiting for 1607495520.90, time is 1607495518.29 2020-12-09T06:31:58Z- sync is 0.40, coherence is 2.00 2020-12-09T06:31:58Z- handleDvl() - RDI_Pathfinder msg: 1607495518.70 epoch sec; seqNo:182 2020-12-09T06:31:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.36 , 94.65 , 68.99 , 98.29 2020-12-09T06:31:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.39 , 0.14 , -0.49 2020-12-09T06:31:58Z- waiting for 1607495520.90, time is 1607495518.70 2020-12-09T06:31:58Z- sync is 0.02, coherence is 2.00 2020-12-09T06:31:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495518.73 epoch sec; seqNo:345; 4061670.40 north; 594621.18 east 2020-12-09T06:31:58Z- waiting for 1607495520.90, time is 1607495518.70 2020-12-09T06:31:58Z- sync is 0.03, coherence is 2.00 2020-12-09T06:31:59Z- AHRS_M2 msg: 1607495519.09 epoch sec; seqNo:329 2020-12-09T06:31:59Z- AHRS_M2 msg: 4.62 phi; -0.18 theta; -0.21 psi 2020-12-09T06:31:59Z- waiting for 1607495520.90, time is 1607495518.70 2020-12-09T06:31:59Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:59Z- handleDepth()-Depth_Keller msg: 9.63 epoch sec; seqNo:1607495519098; depth 0.00 2020-12-09T06:31:59Z- waiting for 1607495520.90, time is 1607495518.70 2020-12-09T06:31:59Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495519.11 epoch sec; seqNo:346; 4061670.40 north; 594621.18 east 2020-12-09T06:31:59Z- waiting for 1607495520.90, time is 1607495518.70 2020-12-09T06:31:59Z- sync is 0.41, coherence is 2.00 2020-12-09T06:31:59Z- AHRS_M2 msg: 1607495519.50 epoch sec; seqNo:330 2020-12-09T06:31:59Z- AHRS_M2 msg: 4.61 phi; -0.18 theta; -0.20 psi 2020-12-09T06:31:59Z- waiting for 1607495520.90, time is 1607495518.70 2020-12-09T06:31:59Z- sync is 0.80, coherence is 2.00 2020-12-09T06:31:59Z- handleDepth()-Depth_Keller msg: 9.68 epoch sec; seqNo:1607495519504; depth 0.00 2020-12-09T06:31:59Z- waiting for 1607495520.90, time is 1607495518.70 2020-12-09T06:31:59Z- sync is 0.80, coherence is 2.00 2020-12-09T06:31:59Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:59Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:59Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:31:59Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:31:59Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:31:59Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:31:59Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:31:59Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:31:59Z- handleDvl() - RDI_Pathfinder msg: 1607495519.51 epoch sec; seqNo:183 2020-12-09T06:31:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:31:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.39 , 0.14 , -0.49 2020-12-09T06:31:59Z- waiting for 1607495520.90, time is 1607495519.51 2020-12-09T06:31:59Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495519.52 epoch sec; seqNo:347; 4061670.38 north; 594619.96 east 2020-12-09T06:31:59Z- waiting for 1607495520.90, time is 1607495519.51 2020-12-09T06:31:59Z- sync is 0.01, coherence is 2.00 2020-12-09T06:31:59Z- AHRS_M2 msg: 1607495519.90 epoch sec; seqNo:331 2020-12-09T06:31:59Z- AHRS_M2 msg: 4.61 phi; -0.17 theta; -0.20 psi 2020-12-09T06:31:59Z- waiting for 1607495520.90, time is 1607495519.51 2020-12-09T06:31:59Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:59Z- handleDepth()-Depth_Keller msg: 9.75 epoch sec; seqNo:1607495519915; depth 0.00 2020-12-09T06:31:59Z- waiting for 1607495520.90, time is 1607495519.51 2020-12-09T06:31:59Z- sync is 0.39, coherence is 2.00 2020-12-09T06:31:59Z- handleDvl() - RDI_Pathfinder msg: 1607495519.93 epoch sec; seqNo:184 2020-12-09T06:31:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.14 , 92.29 , 68.18 , 92.29 2020-12-09T06:31:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.52 , 0.31 , -0.24 2020-12-09T06:31:59Z- waiting for 1607495520.90, time is 1607495519.93 2020-12-09T06:31:59Z- sync is 0.03, coherence is 2.00 2020-12-09T06:31:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495519.94 epoch sec; seqNo:348; 4061670.38 north; 594619.96 east 2020-12-09T06:31:59Z- waiting for 1607495520.90, time is 1607495519.93 2020-12-09T06:31:59Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:00Z- AHRS_M2 msg: 1607495520.31 epoch sec; seqNo:332 2020-12-09T06:32:00Z- AHRS_M2 msg: 4.60 phi; -0.17 theta; -0.20 psi 2020-12-09T06:32:00Z- waiting for 1607495520.90, time is 1607495519.93 2020-12-09T06:32:00Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:00Z- handleDepth()-Depth_Keller msg: 9.81 epoch sec; seqNo:1607495520318; depth 0.00 2020-12-09T06:32:00Z- waiting for 1607495520.90, time is 1607495519.93 2020-12-09T06:32:00Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495520.33 epoch sec; seqNo:349; 4061670.37 north; 594618.74 east 2020-12-09T06:32:00Z- waiting for 1607495520.90, time is 1607495519.93 2020-12-09T06:32:00Z- sync is 0.41, coherence is 2.00 2020-12-09T06:32:00Z- AHRS_M2 msg: 1607495520.70 epoch sec; seqNo:333 2020-12-09T06:32:00Z- AHRS_M2 msg: 4.59 phi; -0.17 theta; -0.20 psi 2020-12-09T06:32:00Z- waiting for 1607495520.90, time is 1607495519.93 2020-12-09T06:32:00Z- sync is 0.78, coherence is 2.00 2020-12-09T06:32:00Z- handleDepth()-Depth_Keller msg: 9.89 epoch sec; seqNo:1607495520712; depth 0.00 2020-12-09T06:32:00Z- waiting for 1607495520.90, time is 1607495519.93 2020-12-09T06:32:00Z- sync is 0.78, coherence is 2.00 2020-12-09T06:32:00Z- handleDvl() - RDI_Pathfinder msg: 1607495520.72 epoch sec; seqNo:185 2020-12-09T06:32:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.54 , 91.41 , 68.59 , 90.33 2020-12-09T06:32:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.51 , 0.37 , 0.07 2020-12-09T06:32:00Z- waiting for 1607495520.90, time is 1607495520.72 2020-12-09T06:32:00Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495520.74 epoch sec; seqNo:350; 4061670.75 north; 594618.74 east 2020-12-09T06:32:00Z- waiting for 1607495520.90, time is 1607495520.72 2020-12-09T06:32:00Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:01Z- AHRS_M2 msg: 1607495521.11 epoch sec; seqNo:334 2020-12-09T06:32:01Z- AHRS_M2 msg: 4.57 phi; -0.17 theta; -0.21 psi 2020-12-09T06:32:01Z- waiting for 1607495520.90, time is 1607495520.72 2020-12-09T06:32:01Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:01Z- handleDepth()-Depth_Keller msg: 9.95 epoch sec; seqNo:1607495521119; depth 0.00 2020-12-09T06:32:01Z- waiting for 1607495520.90, time is 1607495520.72 2020-12-09T06:32:01Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495521.14 epoch sec; seqNo:351; 4061670.73 north; 594617.52 east 2020-12-09T06:32:01Z- waiting for 1607495520.90, time is 1607495520.72 2020-12-09T06:32:01Z- sync is 0.42, coherence is 2.00 2020-12-09T06:32:01Z- AHRS_M2 msg: 1607495521.51 epoch sec; seqNo:335 2020-12-09T06:32:01Z- AHRS_M2 msg: 4.56 phi; -0.17 theta; -0.21 psi 2020-12-09T06:32:01Z- waiting for 1607495520.90, time is 1607495520.72 2020-12-09T06:32:01Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:01Z- handleDepth()-Depth_Keller msg: 10.02 epoch sec; seqNo:1607495521518; depth 0.00 2020-12-09T06:32:01Z- waiting for 1607495520.90, time is 1607495520.72 2020-12-09T06:32:01Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495521.53 epoch sec; seqNo:352; 4061670.73 north; 594617.52 east 2020-12-09T06:32:01Z- waiting for 1607495520.90, time is 1607495520.72 2020-12-09T06:32:01Z- sync is 0.81, coherence is 2.00 2020-12-09T06:32:01Z- AHRS_M2 msg: 1607495521.92 epoch sec; seqNo:336 2020-12-09T06:32:01Z- AHRS_M2 msg: 4.55 phi; -0.17 theta; -0.22 psi 2020-12-09T06:32:01Z- waiting for 1607495520.90, time is 1607495520.72 2020-12-09T06:32:01Z- sync is 1.19, coherence is 2.00 2020-12-09T06:32:01Z- handleDepth()-Depth_Keller msg: 10.08 epoch sec; seqNo:1607495521922; depth 0.00 2020-12-09T06:32:01Z- waiting for 1607495520.90, time is 1607495520.72 2020-12-09T06:32:01Z- sync is 1.19, coherence is 2.00 2020-12-09T06:32:01Z- handleDvl() - RDI_Pathfinder msg: 1607495521.93 epoch sec; seqNo:186 2020-12-09T06:32:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.73 , 93.57 , 68.99 , 0.00 2020-12-09T06:32:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.34 , 0.35 , 0.26 2020-12-09T06:32:01Z- waiting for 1607495520.90, time is 1607495521.93 2020-12-09T06:32:01Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:01Z- LcmTrn::updateTrn() >>>> pose time 1607495521.92, meas time 1607495521.93 <<<< 2020-12-09T06:32:01Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495521.93 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:32:01Z- TerrainNav::motionUpdate() - currEstimate = (4061671, 594617.52, 10.08) 2020-12-09T06:32:01Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:32:01Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:32:01Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:32:01Z- TNavBF::mmse selected from filter -1 2020-12-09T06:32:01Z- variances([0], [2], and psi_berg) = 819.825768 833.163025 0.000000 2020-12-09T06:32:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:32:01Z- LcmTrn::cycle() - MLE : 4061634.23 594570.02 10.08 2020-12-09T06:32:01Z- LcmTrn::cycle() - MMSE : 4061670.73 594617.52 10.08 2020-12-09T06:32:01Z- LcmTrn::cycle() - COVAR: 819.83 833.16 30.72 0.00 2020-12-09T06:32:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495521.95 epoch sec; seqNo:353; 4061670.72 north; 594616.30 east 2020-12-09T06:32:01Z- waiting for 1607495524.93, time is 1607495521.93 2020-12-09T06:32:01Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:02Z- AHRS_M2 msg: 1607495522.32 epoch sec; seqNo:337 2020-12-09T06:32:02Z- AHRS_M2 msg: 4.54 phi; -0.18 theta; -0.22 psi 2020-12-09T06:32:02Z- waiting for 1607495524.93, time is 1607495521.93 2020-12-09T06:32:02Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:02Z- handleDepth()-Depth_Keller msg: 10.15 epoch sec; seqNo:1607495522327; depth 0.00 2020-12-09T06:32:02Z- waiting for 1607495524.93, time is 1607495521.93 2020-12-09T06:32:02Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495522.34 epoch sec; seqNo:354; 4061670.72 north; 594616.30 east 2020-12-09T06:32:02Z- waiting for 1607495524.93, time is 1607495521.93 2020-12-09T06:32:02Z- sync is 0.41, coherence is 2.00 2020-12-09T06:32:02Z- AHRS_M2 msg: 1607495522.73 epoch sec; seqNo:338 2020-12-09T06:32:02Z- AHRS_M2 msg: 4.52 phi; -0.18 theta; -0.22 psi 2020-12-09T06:32:02Z- waiting for 1607495524.93, time is 1607495521.93 2020-12-09T06:32:02Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:02Z- handleDepth()-Depth_Keller msg: 10.23 epoch sec; seqNo:1607495522730; depth 0.00 2020-12-09T06:32:02Z- waiting for 1607495524.93, time is 1607495521.93 2020-12-09T06:32:02Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:02Z- handleDvl() - RDI_Pathfinder msg: 1607495522.75 epoch sec; seqNo:187 2020-12-09T06:32:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.14 , 93.57 , 68.99 , 90.33 2020-12-09T06:32:02Z- handleDvl() - RDI_Pathfinder msg: velocities 1.12 , 0.30 , 0.34 2020-12-09T06:32:02Z- waiting for 1607495524.93, time is 1607495522.75 2020-12-09T06:32:02Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495522.76 epoch sec; seqNo:355; 4061670.71 north; 594615.08 east 2020-12-09T06:32:02Z- waiting for 1607495524.93, time is 1607495522.75 2020-12-09T06:32:02Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:03Z- AHRS_M2 msg: 1607495523.13 epoch sec; seqNo:339 2020-12-09T06:32:03Z- AHRS_M2 msg: 4.52 phi; -0.19 theta; -0.22 psi 2020-12-09T06:32:03Z- waiting for 1607495524.93, time is 1607495522.75 2020-12-09T06:32:03Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:03Z- handleDepth()-Depth_Keller msg: 10.31 epoch sec; seqNo:1607495523132; depth 0.00 2020-12-09T06:32:03Z- waiting for 1607495524.93, time is 1607495522.75 2020-12-09T06:32:03Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:03Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:03Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:03Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:03Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:32:03Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:32:03Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:32:03Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:32:03Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:32:03Z- handleDvl() - RDI_Pathfinder msg: 1607495523.13 epoch sec; seqNo:188 2020-12-09T06:32:03Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:32:03Z- handleDvl() - RDI_Pathfinder msg: velocities 1.12 , 0.30 , 0.34 2020-12-09T06:32:03Z- waiting for 1607495524.93, time is 1607495523.13 2020-12-09T06:32:03Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495523.15 epoch sec; seqNo:356; 4061671.09 north; 594615.07 east 2020-12-09T06:32:03Z- waiting for 1607495524.93, time is 1607495523.13 2020-12-09T06:32:03Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:03Z- AHRS_M2 msg: 1607495523.54 epoch sec; seqNo:340 2020-12-09T06:32:03Z- AHRS_M2 msg: 4.52 phi; -0.19 theta; -0.22 psi 2020-12-09T06:32:03Z- waiting for 1607495524.93, time is 1607495523.13 2020-12-09T06:32:03Z- sync is 0.40, coherence is 2.00 2020-12-09T06:32:03Z- handleDepth()-Depth_Keller msg: 10.37 epoch sec; seqNo:1607495523541; depth 0.00 2020-12-09T06:32:03Z- waiting for 1607495524.93, time is 1607495523.13 2020-12-09T06:32:03Z- sync is 0.40, coherence is 2.00 2020-12-09T06:32:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495523.55 epoch sec; seqNo:357; 4061671.09 north; 594615.07 east 2020-12-09T06:32:03Z- waiting for 1607495524.93, time is 1607495523.13 2020-12-09T06:32:03Z- sync is 0.42, coherence is 2.00 2020-12-09T06:32:03Z- AHRS_M2 msg: 1607495523.94 epoch sec; seqNo:341 2020-12-09T06:32:03Z- AHRS_M2 msg: 4.52 phi; -0.20 theta; -0.22 psi 2020-12-09T06:32:03Z- waiting for 1607495524.93, time is 1607495523.13 2020-12-09T06:32:03Z- sync is 0.80, coherence is 2.00 2020-12-09T06:32:03Z- handleDepth()-Depth_Keller msg: 10.45 epoch sec; seqNo:1607495523942; depth 0.00 2020-12-09T06:32:03Z- waiting for 1607495524.93, time is 1607495523.13 2020-12-09T06:32:03Z- sync is 0.80, coherence is 2.00 2020-12-09T06:32:03Z- handleDvl() - RDI_Pathfinder msg: 1607495523.96 epoch sec; seqNo:189 2020-12-09T06:32:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.14 , 94.65 , 68.99 , 92.49 2020-12-09T06:32:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.20 , 0.33 2020-12-09T06:32:03Z- waiting for 1607495524.93, time is 1607495523.96 2020-12-09T06:32:03Z- sync is 0.03, coherence is 2.00 2020-12-09T06:32:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495523.98 epoch sec; seqNo:358; 4061671.07 north; 594613.85 east 2020-12-09T06:32:03Z- waiting for 1607495524.93, time is 1607495523.96 2020-12-09T06:32:03Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:04Z- AHRS_M2 msg: 1607495524.34 epoch sec; seqNo:342 2020-12-09T06:32:04Z- AHRS_M2 msg: 4.53 phi; -0.20 theta; -0.22 psi 2020-12-09T06:32:04Z- waiting for 1607495524.93, time is 1607495523.96 2020-12-09T06:32:04Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:04Z- handleDepth()-Depth_Keller msg: 10.53 epoch sec; seqNo:1607495524350; depth 0.00 2020-12-09T06:32:04Z- waiting for 1607495524.93, time is 1607495523.96 2020-12-09T06:32:04Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:04Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:04Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:04Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:04Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:32:04Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:32:04Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:32:04Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:32:04Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:32:04Z- handleDvl() - RDI_Pathfinder msg: 1607495524.35 epoch sec; seqNo:190 2020-12-09T06:32:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:32:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.20 , 0.33 2020-12-09T06:32:04Z- waiting for 1607495524.93, time is 1607495524.35 2020-12-09T06:32:04Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495524.36 epoch sec; seqNo:359; 4061671.07 north; 594613.85 east 2020-12-09T06:32:04Z- waiting for 1607495524.93, time is 1607495524.35 2020-12-09T06:32:04Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:04Z- AHRS_M2 msg: 1607495524.75 epoch sec; seqNo:343 2020-12-09T06:32:04Z- AHRS_M2 msg: 4.53 phi; -0.20 theta; -0.22 psi 2020-12-09T06:32:04Z- waiting for 1607495524.93, time is 1607495524.35 2020-12-09T06:32:04Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:04Z- handleDepth()-Depth_Keller msg: 10.57 epoch sec; seqNo:1607495524755; depth 0.00 2020-12-09T06:32:04Z- waiting for 1607495524.93, time is 1607495524.35 2020-12-09T06:32:04Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:04Z- handleDvl() - RDI_Pathfinder msg: 1607495524.77 epoch sec; seqNo:191 2020-12-09T06:32:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.95 , 97.89 , 69.40 , 92.49 2020-12-09T06:32:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.07 , 0.28 2020-12-09T06:32:04Z- waiting for 1607495524.93, time is 1607495524.77 2020-12-09T06:32:04Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495524.78 epoch sec; seqNo:360; 4061671.07 north; 594613.85 east 2020-12-09T06:32:04Z- waiting for 1607495524.93, time is 1607495524.77 2020-12-09T06:32:04Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:05Z- AHRS_M2 msg: 1607495525.15 epoch sec; seqNo:344 2020-12-09T06:32:05Z- AHRS_M2 msg: 4.54 phi; -0.20 theta; -0.22 psi 2020-12-09T06:32:05Z- waiting for 1607495524.93, time is 1607495524.77 2020-12-09T06:32:05Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:05Z- handleDepth()-Depth_Keller msg: 10.65 epoch sec; seqNo:1607495525152; depth 0.00 2020-12-09T06:32:05Z- waiting for 1607495524.93, time is 1607495524.77 2020-12-09T06:32:05Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495525.19 epoch sec; seqNo:361; 4061671.07 north; 594613.85 east 2020-12-09T06:32:05Z- waiting for 1607495524.93, time is 1607495524.77 2020-12-09T06:32:05Z- sync is 0.42, coherence is 2.00 2020-12-09T06:32:05Z- AHRS_M2 msg: 1607495525.55 epoch sec; seqNo:345 2020-12-09T06:32:05Z- AHRS_M2 msg: 4.55 phi; -0.20 theta; -0.22 psi 2020-12-09T06:32:05Z- waiting for 1607495524.93, time is 1607495524.77 2020-12-09T06:32:05Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:05Z- handleDepth()-Depth_Keller msg: 10.71 epoch sec; seqNo:1607495525558; depth 0.00 2020-12-09T06:32:05Z- waiting for 1607495524.93, time is 1607495524.77 2020-12-09T06:32:05Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:05Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:05Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:05Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:05Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:32:05Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:32:05Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:32:05Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:32:05Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:32:05Z- handleDvl() - RDI_Pathfinder msg: 1607495525.56 epoch sec; seqNo:192 2020-12-09T06:32:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:32:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.07 , 0.28 2020-12-09T06:32:05Z- waiting for 1607495524.93, time is 1607495525.56 2020-12-09T06:32:05Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:05Z- LcmTrn::updateTrn() >>>> pose time 1607495525.55, meas time 1607495525.56 <<<< 2020-12-09T06:32:05Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495525.56, ping # 0. 2020-12-09T06:32:05Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495525.56 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:32:05Z- TerrainNav::motionUpdate() - currEstimate = (4061671, 594613.85, 10.71) 2020-12-09T06:32:05Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:32:05Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:32:05Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:32:05Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:32:05Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:32:05Z- TNavBF::mmse selected from filter -1 2020-12-09T06:32:05Z- variances([0], [2], and psi_berg) = 819.461481 833.161434 0.000000 2020-12-09T06:32:05Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:32:05Z- LcmTrn::cycle() - MLE : 4061634.57 594566.35 10.71 2020-12-09T06:32:05Z- LcmTrn::cycle() - MMSE : 4061671.07 594613.85 10.71 2020-12-09T06:32:05Z- LcmTrn::cycle() - COVAR: 819.46 833.16 30.91 0.00 2020-12-09T06:32:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495525.57 epoch sec; seqNo:362; 4061671.06 north; 594612.63 east 2020-12-09T06:32:05Z- waiting for 1607495528.56, time is 1607495525.56 2020-12-09T06:32:05Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:05Z- AHRS_M2 msg: 1607495525.96 epoch sec; seqNo:346 2020-12-09T06:32:05Z- AHRS_M2 msg: 4.56 phi; -0.20 theta; -0.21 psi 2020-12-09T06:32:05Z- waiting for 1607495528.56, time is 1607495525.56 2020-12-09T06:32:05Z- sync is 0.40, coherence is 2.00 2020-12-09T06:32:05Z- handleDepth()-Depth_Keller msg: 10.78 epoch sec; seqNo:1607495525971; depth 0.00 2020-12-09T06:32:05Z- waiting for 1607495528.56, time is 1607495525.56 2020-12-09T06:32:05Z- sync is 0.40, coherence is 2.00 2020-12-09T06:32:05Z- handleDvl() - RDI_Pathfinder msg: 1607495525.98 epoch sec; seqNo:193 2020-12-09T06:32:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.36 , 94.51 , 68.99 , 92.35 2020-12-09T06:32:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.03 , 0.22 2020-12-09T06:32:05Z- waiting for 1607495528.56, time is 1607495525.98 2020-12-09T06:32:05Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495526.00 epoch sec; seqNo:363; 4061671.06 north; 594612.63 east 2020-12-09T06:32:05Z- waiting for 1607495528.56, time is 1607495525.98 2020-12-09T06:32:05Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:06Z- AHRS_M2 msg: 1607495526.36 epoch sec; seqNo:347 2020-12-09T06:32:06Z- AHRS_M2 msg: 4.56 phi; -0.19 theta; -0.21 psi 2020-12-09T06:32:06Z- waiting for 1607495528.56, time is 1607495525.98 2020-12-09T06:32:06Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:06Z- handleDepth()-Depth_Keller msg: 10.86 epoch sec; seqNo:1607495526370; depth 0.00 2020-12-09T06:32:06Z- waiting for 1607495528.56, time is 1607495525.98 2020-12-09T06:32:06Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495526.39 epoch sec; seqNo:364; 4061671.06 north; 594612.63 east 2020-12-09T06:32:06Z- waiting for 1607495528.56, time is 1607495525.98 2020-12-09T06:32:06Z- sync is 0.40, coherence is 2.00 2020-12-09T06:32:06Z- AHRS_M2 msg: 1607495526.77 epoch sec; seqNo:348 2020-12-09T06:32:06Z- AHRS_M2 msg: 4.57 phi; -0.19 theta; -0.20 psi 2020-12-09T06:32:06Z- waiting for 1607495528.56, time is 1607495525.98 2020-12-09T06:32:06Z- sync is 0.78, coherence is 2.00 2020-12-09T06:32:06Z- handleDepth()-Depth_Keller msg: 10.92 epoch sec; seqNo:1607495526774; depth 0.00 2020-12-09T06:32:06Z- waiting for 1607495528.56, time is 1607495525.98 2020-12-09T06:32:06Z- sync is 0.78, coherence is 2.00 2020-12-09T06:32:06Z- handleDvl() - RDI_Pathfinder msg: 1607495526.79 epoch sec; seqNo:194 2020-12-09T06:32:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.36 , 93.50 , 69.40 , 92.42 2020-12-09T06:32:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.06 , 0.14 2020-12-09T06:32:06Z- waiting for 1607495528.56, time is 1607495526.79 2020-12-09T06:32:06Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495526.82 epoch sec; seqNo:365; 4061671.05 north; 594611.41 east 2020-12-09T06:32:06Z- waiting for 1607495528.56, time is 1607495526.79 2020-12-09T06:32:06Z- sync is 0.03, coherence is 2.00 2020-12-09T06:32:07Z- AHRS_M2 msg: 1607495527.17 epoch sec; seqNo:349 2020-12-09T06:32:07Z- AHRS_M2 msg: 4.58 phi; -0.19 theta; -0.19 psi 2020-12-09T06:32:07Z- waiting for 1607495528.56, time is 1607495526.79 2020-12-09T06:32:07Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:07Z- handleDepth()-Depth_Keller msg: 11.00 epoch sec; seqNo:1607495527180; depth 0.00 2020-12-09T06:32:07Z- waiting for 1607495528.56, time is 1607495526.79 2020-12-09T06:32:07Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495527.20 epoch sec; seqNo:366; 4061670.67 north; 594611.42 east 2020-12-09T06:32:07Z- waiting for 1607495528.56, time is 1607495526.79 2020-12-09T06:32:07Z- sync is 0.41, coherence is 2.00 2020-12-09T06:32:07Z- AHRS_M2 msg: 1607495527.57 epoch sec; seqNo:350 2020-12-09T06:32:07Z- AHRS_M2 msg: 4.58 phi; -0.19 theta; -0.19 psi 2020-12-09T06:32:07Z- waiting for 1607495528.56, time is 1607495526.79 2020-12-09T06:32:07Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:07Z- handleDepth()-Depth_Keller msg: 11.07 epoch sec; seqNo:1607495527594; depth 0.00 2020-12-09T06:32:07Z- waiting for 1607495528.56, time is 1607495526.79 2020-12-09T06:32:07Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495527.61 epoch sec; seqNo:367; 4061670.67 north; 594611.42 east 2020-12-09T06:32:07Z- waiting for 1607495528.56, time is 1607495526.79 2020-12-09T06:32:07Z- sync is 0.82, coherence is 2.00 2020-12-09T06:32:07Z- AHRS_M2 msg: 1607495527.98 epoch sec; seqNo:351 2020-12-09T06:32:07Z- AHRS_M2 msg: 4.59 phi; -0.19 theta; -0.18 psi 2020-12-09T06:32:07Z- waiting for 1607495528.56, time is 1607495526.79 2020-12-09T06:32:07Z- sync is 1.19, coherence is 2.00 2020-12-09T06:32:07Z- handleDepth()-Depth_Keller msg: 11.15 epoch sec; seqNo:1607495527987; depth 0.00 2020-12-09T06:32:07Z- waiting for 1607495528.56, time is 1607495526.79 2020-12-09T06:32:07Z- sync is 1.19, coherence is 2.00 2020-12-09T06:32:08Z- handleDvl() - RDI_Pathfinder msg: 1607495528.01 epoch sec; seqNo:195 2020-12-09T06:32:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.95 , 92.42 , 68.99 , 92.42 2020-12-09T06:32:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.07 , 0.02 2020-12-09T06:32:08Z- waiting for 1607495528.56, time is 1607495528.01 2020-12-09T06:32:08Z- sync is 0.03, coherence is 2.00 2020-12-09T06:32:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495528.02 epoch sec; seqNo:368; 4061670.67 north; 594611.42 east 2020-12-09T06:32:08Z- waiting for 1607495528.56, time is 1607495528.01 2020-12-09T06:32:08Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:08Z- AHRS_M2 msg: 1607495528.39 epoch sec; seqNo:352 2020-12-09T06:32:08Z- AHRS_M2 msg: 4.60 phi; -0.19 theta; -0.18 psi 2020-12-09T06:32:08Z- waiting for 1607495528.56, time is 1607495528.01 2020-12-09T06:32:08Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:08Z- handleDepth()-Depth_Keller msg: 11.23 epoch sec; seqNo:1607495528394; depth 0.00 2020-12-09T06:32:08Z- waiting for 1607495528.56, time is 1607495528.01 2020-12-09T06:32:08Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495528.41 epoch sec; seqNo:369; 4061670.65 north; 594610.20 east 2020-12-09T06:32:08Z- waiting for 1607495528.56, time is 1607495528.01 2020-12-09T06:32:08Z- sync is 0.40, coherence is 2.00 2020-12-09T06:32:08Z- AHRS_M2 msg: 1607495528.79 epoch sec; seqNo:353 2020-12-09T06:32:08Z- AHRS_M2 msg: 4.60 phi; -0.19 theta; -0.18 psi 2020-12-09T06:32:08Z- waiting for 1607495528.56, time is 1607495528.01 2020-12-09T06:32:08Z- sync is 0.78, coherence is 2.00 2020-12-09T06:32:08Z- handleDepth()-Depth_Keller msg: 11.29 epoch sec; seqNo:1607495528793; depth 0.00 2020-12-09T06:32:08Z- waiting for 1607495528.56, time is 1607495528.01 2020-12-09T06:32:08Z- sync is 0.78, coherence is 2.00 2020-12-09T06:32:08Z- handleDvl() - RDI_Pathfinder msg: 1607495528.80 epoch sec; seqNo:196 2020-12-09T06:32:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.95 , 91.40 , 68.58 , 90.32 2020-12-09T06:32:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.04 , -0.05 2020-12-09T06:32:08Z- waiting for 1607495528.56, time is 1607495528.80 2020-12-09T06:32:08Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:08Z- LcmTrn::updateTrn() >>>> pose time 1607495528.79, meas time 1607495528.80 <<<< 2020-12-09T06:32:08Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495528.80 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:32:08Z- TerrainNav::motionUpdate() - currEstimate = (4061671, 594610.20, 11.29) 2020-12-09T06:32:08Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:32:08Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:32:08Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:32:08Z- TNavBF::mmse selected from filter -1 2020-12-09T06:32:08Z- variances([0], [2], and psi_berg) = 819.101166 833.159888 0.000000 2020-12-09T06:32:08Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:32:08Z- LcmTrn::cycle() - MLE : 4061634.15 594562.70 11.29 2020-12-09T06:32:08Z- LcmTrn::cycle() - MMSE : 4061670.65 594610.20 11.29 2020-12-09T06:32:08Z- LcmTrn::cycle() - COVAR: 819.10 833.16 31.09 0.00 2020-12-09T06:32:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495528.82 epoch sec; seqNo:370; 4061670.65 north; 594610.20 east 2020-12-09T06:32:08Z- waiting for 1607495531.80, time is 1607495528.80 2020-12-09T06:32:08Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:09Z- AHRS_M2 msg: 1607495529.20 epoch sec; seqNo:354 2020-12-09T06:32:09Z- AHRS_M2 msg: 4.61 phi; -0.19 theta; -0.18 psi 2020-12-09T06:32:09Z- waiting for 1607495531.80, time is 1607495528.80 2020-12-09T06:32:09Z- sync is 0.40, coherence is 2.00 2020-12-09T06:32:09Z- handleDepth()-Depth_Keller msg: 11.37 epoch sec; seqNo:1607495529210; depth 0.00 2020-12-09T06:32:09Z- waiting for 1607495531.80, time is 1607495528.80 2020-12-09T06:32:09Z- sync is 0.40, coherence is 2.00 2020-12-09T06:32:09Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:09Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:09Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:09Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:32:09Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:32:09Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:32:09Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:32:09Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:32:09Z- handleDvl() - RDI_Pathfinder msg: 1607495529.21 epoch sec; seqNo:197 2020-12-09T06:32:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:32:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.04 , -0.05 2020-12-09T06:32:09Z- waiting for 1607495531.80, time is 1607495529.21 2020-12-09T06:32:09Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495529.23 epoch sec; seqNo:371; 4061670.65 north; 594610.20 east 2020-12-09T06:32:09Z- waiting for 1607495531.80, time is 1607495529.21 2020-12-09T06:32:09Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:09Z- AHRS_M2 msg: 1607495529.60 epoch sec; seqNo:355 2020-12-09T06:32:09Z- AHRS_M2 msg: 4.61 phi; -0.19 theta; -0.18 psi 2020-12-09T06:32:09Z- waiting for 1607495531.80, time is 1607495529.21 2020-12-09T06:32:09Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:09Z- handleDepth()-Depth_Keller msg: 11.44 epoch sec; seqNo:1607495529605; depth 0.00 2020-12-09T06:32:09Z- waiting for 1607495531.80, time is 1607495529.21 2020-12-09T06:32:09Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495529.66 epoch sec; seqNo:372; 4061670.26 north; 594608.98 east 2020-12-09T06:32:09Z- waiting for 1607495531.80, time is 1607495529.21 2020-12-09T06:32:09Z- sync is 0.45, coherence is 2.00 2020-12-09T06:32:09Z- AHRS_M2 msg: 1607495530.00 epoch sec; seqNo:356 2020-12-09T06:32:09Z- AHRS_M2 msg: 4.61 phi; -0.19 theta; -0.18 psi 2020-12-09T06:32:09Z- waiting for 1607495531.80, time is 1607495529.21 2020-12-09T06:32:09Z- sync is 0.78, coherence is 2.00 2020-12-09T06:32:09Z- handleDepth()-Depth_Keller msg: 11.50 epoch sec; seqNo:1607495530002; depth 0.00 2020-12-09T06:32:09Z- waiting for 1607495531.80, time is 1607495529.21 2020-12-09T06:32:09Z- sync is 0.78, coherence is 2.00 2020-12-09T06:32:10Z- handleDvl() - RDI_Pathfinder msg: 1607495530.01 epoch sec; seqNo:198 2020-12-09T06:32:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.76 , 91.40 , 68.58 , 90.32 2020-12-09T06:32:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.01 , -0.05 2020-12-09T06:32:10Z- waiting for 1607495531.80, time is 1607495530.01 2020-12-09T06:32:10Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495530.03 epoch sec; seqNo:373; 4061670.26 north; 594608.98 east 2020-12-09T06:32:10Z- waiting for 1607495531.80, time is 1607495530.01 2020-12-09T06:32:10Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:10Z- AHRS_M2 msg: 1607495530.40 epoch sec; seqNo:357 2020-12-09T06:32:10Z- AHRS_M2 msg: 4.61 phi; -0.19 theta; -0.18 psi 2020-12-09T06:32:10Z- waiting for 1607495531.80, time is 1607495530.01 2020-12-09T06:32:10Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:10Z- handleDepth()-Depth_Keller msg: 11.55 epoch sec; seqNo:1607495530410; depth 0.00 2020-12-09T06:32:10Z- waiting for 1607495531.80, time is 1607495530.01 2020-12-09T06:32:10Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:10Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:10Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:10Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:10Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:32:10Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:32:10Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:32:10Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:32:10Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:32:10Z- handleDvl() - RDI_Pathfinder msg: 1607495530.41 epoch sec; seqNo:199 2020-12-09T06:32:10Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:32:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.01 , -0.05 2020-12-09T06:32:10Z- waiting for 1607495531.80, time is 1607495530.41 2020-12-09T06:32:10Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495530.42 epoch sec; seqNo:374; 4061670.26 north; 594608.98 east 2020-12-09T06:32:10Z- waiting for 1607495531.80, time is 1607495530.41 2020-12-09T06:32:10Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:10Z- AHRS_M2 msg: 1607495530.81 epoch sec; seqNo:358 2020-12-09T06:32:10Z- AHRS_M2 msg: 4.61 phi; -0.18 theta; -0.18 psi 2020-12-09T06:32:10Z- waiting for 1607495531.80, time is 1607495530.41 2020-12-09T06:32:10Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:10Z- handleDepth()-Depth_Keller msg: 11.62 epoch sec; seqNo:1607495530810; depth 0.00 2020-12-09T06:32:10Z- waiting for 1607495531.80, time is 1607495530.41 2020-12-09T06:32:10Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:10Z- handleDvl() - RDI_Pathfinder msg: 1607495530.83 epoch sec; seqNo:200 2020-12-09T06:32:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 67.36 , 91.40 , 68.58 , 90.32 2020-12-09T06:32:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.05 , 0.03 2020-12-09T06:32:10Z- waiting for 1607495531.80, time is 1607495530.83 2020-12-09T06:32:10Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495530.84 epoch sec; seqNo:375; 4061670.26 north; 594608.98 east 2020-12-09T06:32:10Z- waiting for 1607495531.80, time is 1607495530.83 2020-12-09T06:32:10Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:11Z- AHRS_M2 msg: 1607495531.21 epoch sec; seqNo:359 2020-12-09T06:32:11Z- AHRS_M2 msg: 4.60 phi; -0.18 theta; -0.18 psi 2020-12-09T06:32:11Z- waiting for 1607495531.80, time is 1607495530.83 2020-12-09T06:32:11Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:11Z- handleDepth()-Depth_Keller msg: 11.70 epoch sec; seqNo:1607495531221; depth 0.00 2020-12-09T06:32:11Z- waiting for 1607495531.80, time is 1607495530.83 2020-12-09T06:32:11Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495531.26 epoch sec; seqNo:376; 4061670.25 north; 594607.76 east 2020-12-09T06:32:11Z- waiting for 1607495531.80, time is 1607495530.83 2020-12-09T06:32:11Z- sync is 0.43, coherence is 2.00 2020-12-09T06:32:11Z- AHRS_M2 msg: 1607495531.63 epoch sec; seqNo:360 2020-12-09T06:32:11Z- AHRS_M2 msg: 4.60 phi; -0.18 theta; -0.18 psi 2020-12-09T06:32:11Z- waiting for 1607495531.80, time is 1607495530.83 2020-12-09T06:32:11Z- sync is 0.80, coherence is 2.00 2020-12-09T06:32:11Z- handleDepth()-Depth_Keller msg: 11.75 epoch sec; seqNo:1607495531660; depth 0.00 2020-12-09T06:32:11Z- waiting for 1607495531.80, time is 1607495530.83 2020-12-09T06:32:11Z- sync is 0.80, coherence is 2.00 2020-12-09T06:32:11Z- handleDvl() - RDI_Pathfinder msg: 1607495531.67 epoch sec; seqNo:201 2020-12-09T06:32:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.95 , 91.40 , 68.17 , 90.32 2020-12-09T06:32:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.06 , 0.14 2020-12-09T06:32:11Z- waiting for 1607495531.80, time is 1607495531.67 2020-12-09T06:32:11Z- sync is 0.04, coherence is 2.00 2020-12-09T06:32:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495531.68 epoch sec; seqNo:377; 4061670.25 north; 594607.76 east 2020-12-09T06:32:11Z- waiting for 1607495531.80, time is 1607495531.67 2020-12-09T06:32:11Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:12Z- AHRS_M2 msg: 1607495532.02 epoch sec; seqNo:361 2020-12-09T06:32:12Z- AHRS_M2 msg: 4.59 phi; -0.18 theta; -0.19 psi 2020-12-09T06:32:12Z- waiting for 1607495531.80, time is 1607495531.67 2020-12-09T06:32:12Z- sync is 0.35, coherence is 2.00 2020-12-09T06:32:12Z- handleDepth()-Depth_Keller msg: 11.83 epoch sec; seqNo:1607495532023; depth 0.00 2020-12-09T06:32:12Z- waiting for 1607495531.80, time is 1607495531.67 2020-12-09T06:32:12Z- sync is 0.35, coherence is 2.00 2020-12-09T06:32:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495532.04 epoch sec; seqNo:378; 4061670.25 north; 594607.76 east 2020-12-09T06:32:12Z- waiting for 1607495531.80, time is 1607495531.67 2020-12-09T06:32:12Z- sync is 0.36, coherence is 2.00 2020-12-09T06:32:12Z- AHRS_M2 msg: 1607495532.43 epoch sec; seqNo:362 2020-12-09T06:32:12Z- AHRS_M2 msg: 4.59 phi; -0.18 theta; -0.19 psi 2020-12-09T06:32:12Z- waiting for 1607495531.80, time is 1607495531.67 2020-12-09T06:32:12Z- sync is 0.76, coherence is 2.00 2020-12-09T06:32:12Z- handleDepth()-Depth_Keller msg: 11.89 epoch sec; seqNo:1607495532437; depth 0.00 2020-12-09T06:32:12Z- waiting for 1607495531.80, time is 1607495531.67 2020-12-09T06:32:12Z- sync is 0.76, coherence is 2.00 2020-12-09T06:32:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495532.45 epoch sec; seqNo:379; 4061670.23 north; 594606.54 east 2020-12-09T06:32:12Z- waiting for 1607495531.80, time is 1607495531.67 2020-12-09T06:32:12Z- sync is 0.78, coherence is 2.00 2020-12-09T06:32:12Z- AHRS_M2 msg: 1607495532.82 epoch sec; seqNo:363 2020-12-09T06:32:12Z- AHRS_M2 msg: 4.58 phi; -0.18 theta; -0.20 psi 2020-12-09T06:32:12Z- waiting for 1607495531.80, time is 1607495531.67 2020-12-09T06:32:12Z- sync is 1.15, coherence is 2.00 2020-12-09T06:32:12Z- handleDepth()-Depth_Keller msg: 11.94 epoch sec; seqNo:1607495532834; depth 0.00 2020-12-09T06:32:12Z- waiting for 1607495531.80, time is 1607495531.67 2020-12-09T06:32:12Z- sync is 1.15, coherence is 2.00 2020-12-09T06:32:12Z- handleDvl() - RDI_Pathfinder msg: 1607495532.85 epoch sec; seqNo:202 2020-12-09T06:32:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.95 , 97.88 , 68.58 , 90.32 2020-12-09T06:32:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.00 , 0.19 2020-12-09T06:32:12Z- waiting for 1607495531.80, time is 1607495532.85 2020-12-09T06:32:12Z- sync is 0.03, coherence is 2.00 2020-12-09T06:32:12Z- LcmTrn::updateTrn() >>>> pose time 1607495532.82, meas time 1607495532.85 <<<< 2020-12-09T06:32:12Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495532.85 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:32:12Z- TerrainNav::motionUpdate() - currEstimate = (4061670, 594606.54, 11.94) 2020-12-09T06:32:12Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:32:12Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:32:12Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:32:12Z- TNavBF::mmse selected from filter -1 2020-12-09T06:32:12Z- variances([0], [2], and psi_berg) = 818.744720 833.158384 0.000000 2020-12-09T06:32:12Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:32:12Z- LcmTrn::cycle() - MLE : 4061633.73 594559.04 11.94 2020-12-09T06:32:12Z- LcmTrn::cycle() - MMSE : 4061670.23 594606.54 11.94 2020-12-09T06:32:12Z- LcmTrn::cycle() - COVAR: 818.74 833.16 31.28 0.00 2020-12-09T06:32:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495532.87 epoch sec; seqNo:380; 4061670.23 north; 594606.54 east 2020-12-09T06:32:12Z- waiting for 1607495535.85, time is 1607495532.85 2020-12-09T06:32:12Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:13Z- AHRS_M2 msg: 1607495533.23 epoch sec; seqNo:364 2020-12-09T06:32:13Z- AHRS_M2 msg: 4.58 phi; -0.18 theta; -0.21 psi 2020-12-09T06:32:13Z- waiting for 1607495535.85, time is 1607495532.85 2020-12-09T06:32:13Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:13Z- handleDepth()-Depth_Keller msg: 12.00 epoch sec; seqNo:1607495533238; depth 0.00 2020-12-09T06:32:13Z- waiting for 1607495535.85, time is 1607495532.85 2020-12-09T06:32:13Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495533.25 epoch sec; seqNo:381; 4061670.23 north; 594606.54 east 2020-12-09T06:32:13Z- waiting for 1607495535.85, time is 1607495532.85 2020-12-09T06:32:13Z- sync is 0.40, coherence is 2.00 2020-12-09T06:32:13Z- AHRS_M2 msg: 1607495533.63 epoch sec; seqNo:365 2020-12-09T06:32:13Z- AHRS_M2 msg: 4.58 phi; -0.19 theta; -0.21 psi 2020-12-09T06:32:13Z- waiting for 1607495535.85, time is 1607495532.85 2020-12-09T06:32:13Z- sync is 0.78, coherence is 2.00 2020-12-09T06:32:13Z- handleDepth()-Depth_Keller msg: 12.07 epoch sec; seqNo:1607495533639; depth 0.00 2020-12-09T06:32:13Z- waiting for 1607495535.85, time is 1607495532.85 2020-12-09T06:32:13Z- sync is 0.78, coherence is 2.00 2020-12-09T06:32:13Z- handleDvl() - RDI_Pathfinder msg: 1607495533.65 epoch sec; seqNo:203 2020-12-09T06:32:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.13 , 92.42 , 69.40 , 0.00 2020-12-09T06:32:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.10 , 0.17 2020-12-09T06:32:13Z- waiting for 1607495535.85, time is 1607495533.65 2020-12-09T06:32:13Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495533.67 epoch sec; seqNo:382; 4061670.23 north; 594606.54 east 2020-12-09T06:32:13Z- waiting for 1607495535.85, time is 1607495533.65 2020-12-09T06:32:13Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:14Z- AHRS_M2 msg: 1607495534.04 epoch sec; seqNo:366 2020-12-09T06:32:14Z- AHRS_M2 msg: 4.57 phi; -0.19 theta; -0.21 psi 2020-12-09T06:32:14Z- waiting for 1607495535.85, time is 1607495533.65 2020-12-09T06:32:14Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:14Z- handleDepth()-Depth_Keller msg: 12.13 epoch sec; seqNo:1607495534042; depth 0.00 2020-12-09T06:32:14Z- waiting for 1607495535.85, time is 1607495533.65 2020-12-09T06:32:14Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:14Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:14Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:14Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:14Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:32:14Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:32:14Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:32:14Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:32:14Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:32:14Z- handleDvl() - RDI_Pathfinder msg: 1607495534.05 epoch sec; seqNo:204 2020-12-09T06:32:14Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:32:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.10 , 0.17 2020-12-09T06:32:14Z- waiting for 1607495535.85, time is 1607495534.05 2020-12-09T06:32:14Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495534.06 epoch sec; seqNo:383; 4061670.22 north; 594605.32 east 2020-12-09T06:32:14Z- waiting for 1607495535.85, time is 1607495534.05 2020-12-09T06:32:14Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:14Z- AHRS_M2 msg: 1607495534.44 epoch sec; seqNo:367 2020-12-09T06:32:14Z- AHRS_M2 msg: 4.57 phi; -0.19 theta; -0.22 psi 2020-12-09T06:32:14Z- waiting for 1607495535.85, time is 1607495534.05 2020-12-09T06:32:14Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:14Z- handleDepth()-Depth_Keller msg: 12.18 epoch sec; seqNo:1607495534452; depth 0.00 2020-12-09T06:32:14Z- waiting for 1607495535.85, time is 1607495534.05 2020-12-09T06:32:14Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495534.47 epoch sec; seqNo:384; 4061669.84 north; 594605.32 east 2020-12-09T06:32:14Z- waiting for 1607495535.85, time is 1607495534.05 2020-12-09T06:32:14Z- sync is 0.42, coherence is 2.00 2020-12-09T06:32:14Z- AHRS_M2 msg: 1607495534.85 epoch sec; seqNo:368 2020-12-09T06:32:14Z- AHRS_M2 msg: 4.58 phi; -0.20 theta; -0.22 psi 2020-12-09T06:32:14Z- waiting for 1607495535.85, time is 1607495534.05 2020-12-09T06:32:14Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:14Z- handleDepth()-Depth_Keller msg: 12.26 epoch sec; seqNo:1607495534849; depth 0.00 2020-12-09T06:32:14Z- waiting for 1607495535.85, time is 1607495534.05 2020-12-09T06:32:14Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:14Z- handleDvl() - RDI_Pathfinder msg: 1607495534.86 epoch sec; seqNo:205 2020-12-09T06:32:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.13 , 93.56 , 68.99 , 91.40 2020-12-09T06:32:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.18 , 0.04 2020-12-09T06:32:14Z- waiting for 1607495535.85, time is 1607495534.86 2020-12-09T06:32:14Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495534.87 epoch sec; seqNo:385; 4061669.84 north; 594605.32 east 2020-12-09T06:32:14Z- waiting for 1607495535.85, time is 1607495534.86 2020-12-09T06:32:14Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:15Z- AHRS_M2 msg: 1607495535.25 epoch sec; seqNo:369 2020-12-09T06:32:15Z- AHRS_M2 msg: 4.58 phi; -0.20 theta; -0.22 psi 2020-12-09T06:32:15Z- waiting for 1607495535.85, time is 1607495534.86 2020-12-09T06:32:15Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:15Z- handleDepth()-Depth_Keller msg: 12.31 epoch sec; seqNo:1607495535263; depth 0.00 2020-12-09T06:32:15Z- waiting for 1607495535.85, time is 1607495534.86 2020-12-09T06:32:15Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:15Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:15Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:15Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:15Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:32:15Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:32:15Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:32:15Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:32:15Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:32:15Z- handleDvl() - RDI_Pathfinder msg: 1607495535.27 epoch sec; seqNo:206 2020-12-09T06:32:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:32:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.18 , 0.04 2020-12-09T06:32:15Z- waiting for 1607495535.85, time is 1607495535.27 2020-12-09T06:32:15Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495535.28 epoch sec; seqNo:386; 4061669.84 north; 594605.32 east 2020-12-09T06:32:15Z- waiting for 1607495535.85, time is 1607495535.27 2020-12-09T06:32:15Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:15Z- AHRS_M2 msg: 1607495535.67 epoch sec; seqNo:370 2020-12-09T06:32:15Z- AHRS_M2 msg: 4.58 phi; -0.21 theta; -0.22 psi 2020-12-09T06:32:15Z- waiting for 1607495535.85, time is 1607495535.27 2020-12-09T06:32:15Z- sync is 0.40, coherence is 2.00 2020-12-09T06:32:15Z- handleDepth()-Depth_Keller msg: 12.37 epoch sec; seqNo:1607495535671; depth 0.00 2020-12-09T06:32:15Z- waiting for 1607495535.85, time is 1607495535.27 2020-12-09T06:32:15Z- sync is 0.40, coherence is 2.00 2020-12-09T06:32:15Z- handleDvl() - RDI_Pathfinder msg: 1607495535.68 epoch sec; seqNo:207 2020-12-09T06:32:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.54 , 92.48 , 68.58 , 91.40 2020-12-09T06:32:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.70 , -0.21 , -0.22 2020-12-09T06:32:15Z- waiting for 1607495535.85, time is 1607495535.68 2020-12-09T06:32:15Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495535.70 epoch sec; seqNo:387; 4061669.45 north; 594604.11 east 2020-12-09T06:32:15Z- waiting for 1607495535.85, time is 1607495535.68 2020-12-09T06:32:15Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:16Z- AHRS_M2 msg: 1607495536.06 epoch sec; seqNo:371 2020-12-09T06:32:16Z- AHRS_M2 msg: 4.59 phi; -0.21 theta; -0.22 psi 2020-12-09T06:32:16Z- waiting for 1607495535.85, time is 1607495535.68 2020-12-09T06:32:16Z- sync is 0.37, coherence is 2.00 2020-12-09T06:32:16Z- handleDepth()-Depth_Keller msg: 12.44 epoch sec; seqNo:1607495536062; depth 0.00 2020-12-09T06:32:16Z- waiting for 1607495535.85, time is 1607495535.68 2020-12-09T06:32:16Z- sync is 0.37, coherence is 2.00 2020-12-09T06:32:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495536.07 epoch sec; seqNo:388; 4061669.45 north; 594604.11 east 2020-12-09T06:32:16Z- waiting for 1607495535.85, time is 1607495535.68 2020-12-09T06:32:16Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:16Z- AHRS_M2 msg: 1607495536.46 epoch sec; seqNo:372 2020-12-09T06:32:16Z- AHRS_M2 msg: 4.59 phi; -0.22 theta; -0.22 psi 2020-12-09T06:32:16Z- waiting for 1607495535.85, time is 1607495535.68 2020-12-09T06:32:16Z- sync is 0.78, coherence is 2.00 2020-12-09T06:32:16Z- handleDepth()-Depth_Keller msg: 12.49 epoch sec; seqNo:1607495536464; depth 0.00 2020-12-09T06:32:16Z- waiting for 1607495535.85, time is 1607495535.68 2020-12-09T06:32:16Z- sync is 0.78, coherence is 2.00 2020-12-09T06:32:16Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:16Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:16Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:16Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:32:16Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:32:16Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:32:16Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:32:16Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:32:16Z- handleDvl() - RDI_Pathfinder msg: 1607495536.47 epoch sec; seqNo:208 2020-12-09T06:32:16Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:32:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.70 , -0.21 , -0.22 2020-12-09T06:32:16Z- waiting for 1607495535.85, time is 1607495536.47 2020-12-09T06:32:16Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:16Z- LcmTrn::updateTrn() >>>> pose time 1607495536.46, meas time 1607495536.47 <<<< 2020-12-09T06:32:16Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495536.47, ping # 0. 2020-12-09T06:32:16Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495536.47 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:32:16Z- TerrainNav::motionUpdate() - currEstimate = (4061669, 594604.11, 12.49) 2020-12-09T06:32:16Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:32:16Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:32:16Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:32:16Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:32:16Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:32:16Z- TNavBF::mmse selected from filter -1 2020-12-09T06:32:16Z- variances([0], [2], and psi_berg) = 818.450856 833.157166 0.000000 2020-12-09T06:32:16Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:32:16Z- LcmTrn::cycle() - MLE : 4061632.95 594556.61 12.49 2020-12-09T06:32:16Z- LcmTrn::cycle() - MMSE : 4061669.45 594604.11 12.49 2020-12-09T06:32:16Z- LcmTrn::cycle() - COVAR: 818.45 833.16 31.41 0.00 2020-12-09T06:32:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495536.48 epoch sec; seqNo:389; 4061669.45 north; 594604.11 east 2020-12-09T06:32:16Z- waiting for 1607495539.47, time is 1607495536.47 2020-12-09T06:32:16Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:16Z- AHRS_M2 msg: 1607495536.87 epoch sec; seqNo:373 2020-12-09T06:32:16Z- AHRS_M2 msg: 4.60 phi; -0.22 theta; -0.22 psi 2020-12-09T06:32:16Z- waiting for 1607495539.47, time is 1607495536.47 2020-12-09T06:32:16Z- sync is 0.40, coherence is 2.00 2020-12-09T06:32:16Z- handleDepth()-Depth_Keller msg: 12.53 epoch sec; seqNo:1607495536871; depth 0.00 2020-12-09T06:32:16Z- waiting for 1607495539.47, time is 1607495536.47 2020-12-09T06:32:16Z- sync is 0.40, coherence is 2.00 2020-12-09T06:32:16Z- handleDvl() - RDI_Pathfinder msg: 1607495536.88 epoch sec; seqNo:209 2020-12-09T06:32:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.72 , 93.56 , 67.36 , 97.88 2020-12-09T06:32:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.14 , -0.56 2020-12-09T06:32:16Z- waiting for 1607495539.47, time is 1607495536.88 2020-12-09T06:32:16Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495536.90 epoch sec; seqNo:390; 4061669.07 north; 594604.11 east 2020-12-09T06:32:16Z- waiting for 1607495539.47, time is 1607495536.88 2020-12-09T06:32:16Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:17Z- AHRS_M2 msg: 1607495537.27 epoch sec; seqNo:374 2020-12-09T06:32:17Z- AHRS_M2 msg: 4.61 phi; -0.23 theta; -0.21 psi 2020-12-09T06:32:17Z- waiting for 1607495539.47, time is 1607495536.88 2020-12-09T06:32:17Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:17Z- handleDepth()-Depth_Keller msg: 12.58 epoch sec; seqNo:1607495537274; depth 0.00 2020-12-09T06:32:17Z- waiting for 1607495539.47, time is 1607495536.88 2020-12-09T06:32:17Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495537.30 epoch sec; seqNo:391; 4061669.06 north; 594602.89 east 2020-12-09T06:32:17Z- waiting for 1607495539.47, time is 1607495536.88 2020-12-09T06:32:17Z- sync is 0.41, coherence is 2.00 2020-12-09T06:32:17Z- AHRS_M2 msg: 1607495537.67 epoch sec; seqNo:375 2020-12-09T06:32:17Z- AHRS_M2 msg: 4.62 phi; -0.22 theta; -0.20 psi 2020-12-09T06:32:17Z- waiting for 1607495539.47, time is 1607495536.88 2020-12-09T06:32:17Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:17Z- handleDepth()-Depth_Keller msg: 12.63 epoch sec; seqNo:1607495537681; depth 0.00 2020-12-09T06:32:17Z- waiting for 1607495539.47, time is 1607495536.88 2020-12-09T06:32:17Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:17Z- handleDvl() - RDI_Pathfinder msg: 1607495537.70 epoch sec; seqNo:210 2020-12-09T06:32:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.31 , 91.33 , 66.54 , 91.33 2020-12-09T06:32:17Z- handleDvl() - RDI_Pathfinder msg: velocities 1.16 , -0.01 , -0.76 2020-12-09T06:32:17Z- waiting for 1607495539.47, time is 1607495537.70 2020-12-09T06:32:17Z- sync is 0.03, coherence is 2.00 2020-12-09T06:32:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495537.71 epoch sec; seqNo:392; 4061669.06 north; 594602.89 east 2020-12-09T06:32:17Z- waiting for 1607495539.47, time is 1607495537.70 2020-12-09T06:32:17Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:18Z- AHRS_M2 msg: 1607495538.08 epoch sec; seqNo:376 2020-12-09T06:32:18Z- AHRS_M2 msg: 4.63 phi; -0.22 theta; -0.19 psi 2020-12-09T06:32:18Z- waiting for 1607495539.47, time is 1607495537.70 2020-12-09T06:32:18Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:18Z- handleDepth()-Depth_Keller msg: 12.69 epoch sec; seqNo:1607495538082; depth 0.00 2020-12-09T06:32:18Z- waiting for 1607495539.47, time is 1607495537.70 2020-12-09T06:32:18Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495538.10 epoch sec; seqNo:393; 4061668.66 north; 594601.68 east 2020-12-09T06:32:18Z- waiting for 1607495539.47, time is 1607495537.70 2020-12-09T06:32:18Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:18Z- AHRS_M2 msg: 1607495538.48 epoch sec; seqNo:377 2020-12-09T06:32:18Z- AHRS_M2 msg: 4.63 phi; -0.21 theta; -0.17 psi 2020-12-09T06:32:18Z- waiting for 1607495539.47, time is 1607495537.70 2020-12-09T06:32:18Z- sync is 0.78, coherence is 2.00 2020-12-09T06:32:18Z- handleDepth()-Depth_Keller msg: 12.74 epoch sec; seqNo:1607495538488; depth 0.00 2020-12-09T06:32:18Z- waiting for 1607495539.47, time is 1607495537.70 2020-12-09T06:32:18Z- sync is 0.78, coherence is 2.00 2020-12-09T06:32:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495538.50 epoch sec; seqNo:394; 4061668.66 north; 594601.68 east 2020-12-09T06:32:18Z- waiting for 1607495539.47, time is 1607495537.70 2020-12-09T06:32:18Z- sync is 0.80, coherence is 2.00 2020-12-09T06:32:18Z- AHRS_M2 msg: 1607495538.88 epoch sec; seqNo:378 2020-12-09T06:32:18Z- AHRS_M2 msg: 4.64 phi; -0.20 theta; -0.15 psi 2020-12-09T06:32:18Z- waiting for 1607495539.47, time is 1607495537.70 2020-12-09T06:32:18Z- sync is 1.18, coherence is 2.00 2020-12-09T06:32:18Z- handleDepth()-Depth_Keller msg: 12.80 epoch sec; seqNo:1607495538889; depth 0.00 2020-12-09T06:32:18Z- waiting for 1607495539.47, time is 1607495537.70 2020-12-09T06:32:18Z- sync is 1.18, coherence is 2.00 2020-12-09T06:32:18Z- handleDvl() - RDI_Pathfinder msg: 1607495538.91 epoch sec; seqNo:211 2020-12-09T06:32:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.31 , 88.16 , 64.91 , 88.16 2020-12-09T06:32:18Z- handleDvl() - RDI_Pathfinder msg: velocities 1.57 , 0.25 , -0.64 2020-12-09T06:32:18Z- waiting for 1607495539.47, time is 1607495538.91 2020-12-09T06:32:18Z- sync is 0.03, coherence is 2.00 2020-12-09T06:32:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495538.92 epoch sec; seqNo:395; 4061668.65 north; 594600.46 east 2020-12-09T06:32:18Z- waiting for 1607495539.47, time is 1607495538.91 2020-12-09T06:32:18Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:19Z- AHRS_M2 msg: 1607495539.29 epoch sec; seqNo:379 2020-12-09T06:32:19Z- AHRS_M2 msg: 4.64 phi; -0.19 theta; -0.14 psi 2020-12-09T06:32:19Z- waiting for 1607495539.47, time is 1607495538.91 2020-12-09T06:32:19Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:19Z- handleDepth()-Depth_Keller msg: 12.86 epoch sec; seqNo:1607495539294; depth 0.00 2020-12-09T06:32:19Z- waiting for 1607495539.47, time is 1607495538.91 2020-12-09T06:32:19Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495539.31 epoch sec; seqNo:396; 4061668.65 north; 594600.46 east 2020-12-09T06:32:19Z- waiting for 1607495539.47, time is 1607495538.91 2020-12-09T06:32:19Z- sync is 0.40, coherence is 2.00 2020-12-09T06:32:19Z- AHRS_M2 msg: 1607495539.70 epoch sec; seqNo:380 2020-12-09T06:32:19Z- AHRS_M2 msg: 4.65 phi; -0.18 theta; -0.13 psi 2020-12-09T06:32:19Z- waiting for 1607495539.47, time is 1607495538.91 2020-12-09T06:32:19Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:19Z- handleDepth()-Depth_Keller msg: 12.92 epoch sec; seqNo:1607495539703; depth 0.00 2020-12-09T06:32:19Z- waiting for 1607495539.47, time is 1607495538.91 2020-12-09T06:32:19Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:19Z- handleDvl() - RDI_Pathfinder msg: 1607495539.71 epoch sec; seqNo:212 2020-12-09T06:32:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.31 , 86.00 , 64.91 , 84.92 2020-12-09T06:32:19Z- handleDvl() - RDI_Pathfinder msg: velocities 1.85 , 0.43 , -0.22 2020-12-09T06:32:19Z- waiting for 1607495539.47, time is 1607495539.71 2020-12-09T06:32:19Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:19Z- LcmTrn::updateTrn() >>>> pose time 1607495539.70, meas time 1607495539.71 <<<< 2020-12-09T06:32:19Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495539.71 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:32:19Z- TerrainNav::motionUpdate() - currEstimate = (4061669, 594600.46, 12.92) 2020-12-09T06:32:19Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:32:19Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:32:19Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:32:19Z- TNavBF::mmse selected from filter -1 2020-12-09T06:32:19Z- variances([0], [2], and psi_berg) = 818.098499 833.155724 0.000000 2020-12-09T06:32:19Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:32:19Z- LcmTrn::cycle() - MLE : 4061632.15 594554.96 12.92 2020-12-09T06:32:19Z- LcmTrn::cycle() - MMSE : 4061668.65 594600.46 12.92 2020-12-09T06:32:19Z- LcmTrn::cycle() - COVAR: 818.10 833.16 31.60 0.00 2020-12-09T06:32:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495539.73 epoch sec; seqNo:397; 4061669.02 north; 594599.23 east 2020-12-09T06:32:19Z- waiting for 1607495542.71, time is 1607495539.71 2020-12-09T06:32:19Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:20Z- AHRS_M2 msg: 1607495540.10 epoch sec; seqNo:381 2020-12-09T06:32:20Z- AHRS_M2 msg: 4.64 phi; -0.17 theta; -0.13 psi 2020-12-09T06:32:20Z- waiting for 1607495542.71, time is 1607495539.71 2020-12-09T06:32:20Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:20Z- handleDepth()-Depth_Keller msg: 13.00 epoch sec; seqNo:1607495540102; depth 0.00 2020-12-09T06:32:20Z- waiting for 1607495542.71, time is 1607495539.71 2020-12-09T06:32:20Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495540.12 epoch sec; seqNo:398; 4061669.02 north; 594599.23 east 2020-12-09T06:32:20Z- waiting for 1607495542.71, time is 1607495539.71 2020-12-09T06:32:20Z- sync is 0.41, coherence is 2.00 2020-12-09T06:32:20Z- AHRS_M2 msg: 1607495540.50 epoch sec; seqNo:382 2020-12-09T06:32:20Z- AHRS_M2 msg: 4.64 phi; -0.16 theta; -0.13 psi 2020-12-09T06:32:20Z- waiting for 1607495542.71, time is 1607495539.71 2020-12-09T06:32:20Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:20Z- handleDepth()-Depth_Keller msg: 13.09 epoch sec; seqNo:1607495540510; depth 0.00 2020-12-09T06:32:20Z- waiting for 1607495542.71, time is 1607495539.71 2020-12-09T06:32:20Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495540.53 epoch sec; seqNo:399; 4061669.00 north; 594598.01 east 2020-12-09T06:32:20Z- waiting for 1607495542.71, time is 1607495539.71 2020-12-09T06:32:20Z- sync is 0.81, coherence is 2.00 2020-12-09T06:32:20Z- AHRS_M2 msg: 1607495540.91 epoch sec; seqNo:383 2020-12-09T06:32:20Z- AHRS_M2 msg: 4.63 phi; -0.15 theta; -0.14 psi 2020-12-09T06:32:20Z- waiting for 1607495542.71, time is 1607495539.71 2020-12-09T06:32:20Z- sync is 1.19, coherence is 2.00 2020-12-09T06:32:20Z- handleDepth()-Depth_Keller msg: 13.17 epoch sec; seqNo:1607495540914; depth 0.00 2020-12-09T06:32:20Z- waiting for 1607495542.71, time is 1607495539.71 2020-12-09T06:32:20Z- sync is 1.19, coherence is 2.00 2020-12-09T06:32:20Z- handleDvl() - RDI_Pathfinder msg: 1607495540.92 epoch sec; seqNo:213 2020-12-09T06:32:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.91 , 83.84 , 65.31 , 82.76 2020-12-09T06:32:20Z- handleDvl() - RDI_Pathfinder msg: velocities 1.82 , 0.45 , 0.29 2020-12-09T06:32:20Z- waiting for 1607495542.71, time is 1607495540.92 2020-12-09T06:32:20Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495540.94 epoch sec; seqNo:400; 4061668.99 north; 594596.79 east 2020-12-09T06:32:20Z- waiting for 1607495542.71, time is 1607495540.92 2020-12-09T06:32:20Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:21Z- AHRS_M2 msg: 1607495541.31 epoch sec; seqNo:384 2020-12-09T06:32:21Z- AHRS_M2 msg: 4.63 phi; -0.15 theta; -0.14 psi 2020-12-09T06:32:21Z- waiting for 1607495542.71, time is 1607495540.92 2020-12-09T06:32:21Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:21Z- handleDepth()-Depth_Keller msg: 13.24 epoch sec; seqNo:1607495541320; depth 0.00 2020-12-09T06:32:21Z- waiting for 1607495542.71, time is 1607495540.92 2020-12-09T06:32:21Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495541.33 epoch sec; seqNo:401; 4061669.37 north; 594596.79 east 2020-12-09T06:32:21Z- waiting for 1607495542.71, time is 1607495540.92 2020-12-09T06:32:21Z- sync is 0.41, coherence is 2.00 2020-12-09T06:32:21Z- AHRS_M2 msg: 1607495541.71 epoch sec; seqNo:385 2020-12-09T06:32:21Z- AHRS_M2 msg: 4.62 phi; -0.14 theta; -0.15 psi 2020-12-09T06:32:21Z- waiting for 1607495542.71, time is 1607495540.92 2020-12-09T06:32:21Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:21Z- handleDepth()-Depth_Keller msg: 13.34 epoch sec; seqNo:1607495541717; depth 0.00 2020-12-09T06:32:21Z- waiting for 1607495542.71, time is 1607495540.92 2020-12-09T06:32:21Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:21Z- handleDvl() - RDI_Pathfinder msg: 1607495541.73 epoch sec; seqNo:214 2020-12-09T06:32:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.50 , 84.92 , 66.54 , 78.38 2020-12-09T06:32:21Z- handleDvl() - RDI_Pathfinder msg: velocities 1.61 , 0.35 , 0.73 2020-12-09T06:32:21Z- waiting for 1607495542.71, time is 1607495541.73 2020-12-09T06:32:21Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495541.76 epoch sec; seqNo:402; 4061669.35 north; 594595.57 east 2020-12-09T06:32:21Z- waiting for 1607495542.71, time is 1607495541.73 2020-12-09T06:32:21Z- sync is 0.03, coherence is 2.00 2020-12-09T06:32:22Z- AHRS_M2 msg: 1607495542.12 epoch sec; seqNo:386 2020-12-09T06:32:22Z- AHRS_M2 msg: 4.60 phi; -0.14 theta; -0.16 psi 2020-12-09T06:32:22Z- waiting for 1607495542.71, time is 1607495541.73 2020-12-09T06:32:22Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:22Z- handleDepth()-Depth_Keller msg: 13.42 epoch sec; seqNo:1607495542126; depth 0.00 2020-12-09T06:32:22Z- waiting for 1607495542.71, time is 1607495541.73 2020-12-09T06:32:22Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495542.14 epoch sec; seqNo:403; 4061669.35 north; 594595.57 east 2020-12-09T06:32:22Z- waiting for 1607495542.71, time is 1607495541.73 2020-12-09T06:32:22Z- sync is 0.41, coherence is 2.00 2020-12-09T06:32:22Z- AHRS_M2 msg: 1607495542.57 epoch sec; seqNo:387 2020-12-09T06:32:22Z- AHRS_M2 msg: 4.59 phi; -0.15 theta; -0.17 psi 2020-12-09T06:32:22Z- waiting for 1607495542.71, time is 1607495541.73 2020-12-09T06:32:22Z- sync is 0.84, coherence is 2.00 2020-12-09T06:32:22Z- handleDepth()-Depth_Keller msg: 13.50 epoch sec; seqNo:1607495542601; depth 0.00 2020-12-09T06:32:22Z- waiting for 1607495542.71, time is 1607495541.73 2020-12-09T06:32:22Z- sync is 0.84, coherence is 2.00 2020-12-09T06:32:22Z- handleDvl() - RDI_Pathfinder msg: 1607495542.61 epoch sec; seqNo:215 2020-12-09T06:32:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.91 , 88.16 , 68.17 , 78.79 2020-12-09T06:32:22Z- handleDvl() - RDI_Pathfinder msg: velocities 1.27 , 0.20 , 0.97 2020-12-09T06:32:22Z- waiting for 1607495542.71, time is 1607495542.61 2020-12-09T06:32:22Z- sync is 0.05, coherence is 2.00 2020-12-09T06:32:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495542.64 epoch sec; seqNo:404; 4061669.72 north; 594594.34 east 2020-12-09T06:32:22Z- waiting for 1607495542.71, time is 1607495542.61 2020-12-09T06:32:22Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:22Z- AHRS_M2 msg: 1607495542.92 epoch sec; seqNo:388 2020-12-09T06:32:22Z- AHRS_M2 msg: 4.57 phi; -0.15 theta; -0.18 psi 2020-12-09T06:32:22Z- waiting for 1607495542.71, time is 1607495542.61 2020-12-09T06:32:22Z- sync is 0.31, coherence is 2.00 2020-12-09T06:32:22Z- handleDepth()-Depth_Keller msg: 13.60 epoch sec; seqNo:1607495542930; depth 0.00 2020-12-09T06:32:22Z- waiting for 1607495542.71, time is 1607495542.61 2020-12-09T06:32:22Z- sync is 0.31, coherence is 2.00 2020-12-09T06:32:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495542.95 epoch sec; seqNo:405; 4061669.72 north; 594594.34 east 2020-12-09T06:32:22Z- waiting for 1607495542.71, time is 1607495542.61 2020-12-09T06:32:22Z- sync is 0.34, coherence is 2.00 2020-12-09T06:32:23Z- AHRS_M2 msg: 1607495543.33 epoch sec; seqNo:389 2020-12-09T06:32:23Z- AHRS_M2 msg: 4.56 phi; -0.15 theta; -0.19 psi 2020-12-09T06:32:23Z- waiting for 1607495542.71, time is 1607495542.61 2020-12-09T06:32:23Z- sync is 0.72, coherence is 2.00 2020-12-09T06:32:23Z- handleDepth()-Depth_Keller msg: 13.65 epoch sec; seqNo:1607495543334; depth 0.00 2020-12-09T06:32:23Z- waiting for 1607495542.71, time is 1607495542.61 2020-12-09T06:32:23Z- sync is 0.72, coherence is 2.00 2020-12-09T06:32:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495543.34 epoch sec; seqNo:406; 4061669.72 north; 594594.34 east 2020-12-09T06:32:23Z- waiting for 1607495542.71, time is 1607495542.61 2020-12-09T06:32:23Z- sync is 0.73, coherence is 2.00 2020-12-09T06:32:23Z- AHRS_M2 msg: 1607495543.73 epoch sec; seqNo:390 2020-12-09T06:32:23Z- AHRS_M2 msg: 4.56 phi; -0.16 theta; -0.19 psi 2020-12-09T06:32:23Z- waiting for 1607495542.71, time is 1607495542.61 2020-12-09T06:32:23Z- sync is 1.12, coherence is 2.00 2020-12-09T06:32:23Z- handleDepth()-Depth_Keller msg: 13.72 epoch sec; seqNo:1607495543738; depth 0.00 2020-12-09T06:32:23Z- waiting for 1607495542.71, time is 1607495542.61 2020-12-09T06:32:23Z- sync is 1.12, coherence is 2.00 2020-12-09T06:32:23Z- handleDvl() - RDI_Pathfinder msg: 1607495543.75 epoch sec; seqNo:216 2020-12-09T06:32:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.31 , 90.32 , 68.99 , 86.00 2020-12-09T06:32:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.05 , 0.97 2020-12-09T06:32:23Z- waiting for 1607495542.71, time is 1607495543.75 2020-12-09T06:32:23Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:23Z- LcmTrn::updateTrn() >>>> pose time 1607495543.73, meas time 1607495543.75 <<<< 2020-12-09T06:32:23Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495543.75 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:32:23Z- TerrainNav::motionUpdate() - currEstimate = (4061670, 594594.34, 13.72) 2020-12-09T06:32:23Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:32:23Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:32:23Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:32:23Z- TNavBF::mmse selected from filter -1 2020-12-09T06:32:23Z- variances([0], [2], and psi_berg) = 817.649183 833.153916 0.000000 2020-12-09T06:32:23Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:32:23Z- LcmTrn::cycle() - MLE : 4061634.22 594544.84 13.72 2020-12-09T06:32:23Z- LcmTrn::cycle() - MMSE : 4061669.72 594594.34 13.72 2020-12-09T06:32:23Z- LcmTrn::cycle() - COVAR: 817.65 833.15 31.92 0.00 2020-12-09T06:32:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495543.76 epoch sec; seqNo:407; 4061669.71 north; 594593.12 east 2020-12-09T06:32:23Z- waiting for 1607495546.75, time is 1607495543.75 2020-12-09T06:32:23Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:24Z- AHRS_M2 msg: 1607495544.14 epoch sec; seqNo:391 2020-12-09T06:32:24Z- AHRS_M2 msg: 4.56 phi; -0.16 theta; -0.20 psi 2020-12-09T06:32:24Z- waiting for 1607495546.75, time is 1607495543.75 2020-12-09T06:32:24Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:24Z- handleDepth()-Depth_Keller msg: 13.80 epoch sec; seqNo:1607495544143; depth 0.00 2020-12-09T06:32:24Z- waiting for 1607495546.75, time is 1607495543.75 2020-12-09T06:32:24Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495544.16 epoch sec; seqNo:408; 4061669.71 north; 594593.12 east 2020-12-09T06:32:24Z- waiting for 1607495546.75, time is 1607495543.75 2020-12-09T06:32:24Z- sync is 0.41, coherence is 2.00 2020-12-09T06:32:24Z- AHRS_M2 msg: 1607495544.54 epoch sec; seqNo:392 2020-12-09T06:32:24Z- AHRS_M2 msg: 4.56 phi; -0.17 theta; -0.21 psi 2020-12-09T06:32:24Z- waiting for 1607495546.75, time is 1607495543.75 2020-12-09T06:32:24Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:24Z- handleDepth()-Depth_Keller msg: 13.87 epoch sec; seqNo:1607495544550; depth 0.00 2020-12-09T06:32:24Z- waiting for 1607495546.75, time is 1607495543.75 2020-12-09T06:32:24Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495544.57 epoch sec; seqNo:409; 4061670.09 north; 594593.12 east 2020-12-09T06:32:24Z- waiting for 1607495546.75, time is 1607495543.75 2020-12-09T06:32:24Z- sync is 0.82, coherence is 2.00 2020-12-09T06:32:24Z- AHRS_M2 msg: 1607495544.94 epoch sec; seqNo:393 2020-12-09T06:32:24Z- AHRS_M2 msg: 4.57 phi; -0.17 theta; -0.21 psi 2020-12-09T06:32:24Z- waiting for 1607495546.75, time is 1607495543.75 2020-12-09T06:32:24Z- sync is 1.19, coherence is 2.00 2020-12-09T06:32:24Z- handleDepth()-Depth_Keller msg: 13.93 epoch sec; seqNo:1607495544950; depth 0.00 2020-12-09T06:32:24Z- waiting for 1607495546.75, time is 1607495543.75 2020-12-09T06:32:24Z- sync is 1.19, coherence is 2.00 2020-12-09T06:32:24Z- handleDvl() - RDI_Pathfinder msg: 1607495544.97 epoch sec; seqNo:217 2020-12-09T06:32:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.31 , 97.88 , 70.21 , 87.08 2020-12-09T06:32:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.49 , -0.11 , 0.77 2020-12-09T06:32:24Z- waiting for 1607495546.75, time is 1607495544.97 2020-12-09T06:32:24Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495545.00 epoch sec; seqNo:410; 4061670.09 north; 594593.12 east 2020-12-09T06:32:24Z- waiting for 1607495546.75, time is 1607495544.97 2020-12-09T06:32:24Z- sync is 0.03, coherence is 2.00 2020-12-09T06:32:25Z- AHRS_M2 msg: 1607495545.36 epoch sec; seqNo:394 2020-12-09T06:32:25Z- AHRS_M2 msg: 4.58 phi; -0.19 theta; -0.22 psi 2020-12-09T06:32:25Z- waiting for 1607495546.75, time is 1607495544.97 2020-12-09T06:32:25Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:25Z- handleDepth()-Depth_Keller msg: 13.98 epoch sec; seqNo:1607495545362; depth 0.00 2020-12-09T06:32:25Z- waiting for 1607495546.75, time is 1607495544.97 2020-12-09T06:32:25Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495545.38 epoch sec; seqNo:411; 4061670.09 north; 594593.12 east 2020-12-09T06:32:25Z- waiting for 1607495546.75, time is 1607495544.97 2020-12-09T06:32:25Z- sync is 0.41, coherence is 2.00 2020-12-09T06:32:25Z- AHRS_M2 msg: 1607495545.76 epoch sec; seqNo:395 2020-12-09T06:32:25Z- AHRS_M2 msg: 4.58 phi; -0.19 theta; -0.22 psi 2020-12-09T06:32:25Z- waiting for 1607495546.75, time is 1607495544.97 2020-12-09T06:32:25Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:25Z- handleDepth()-Depth_Keller msg: 14.03 epoch sec; seqNo:1607495545768; depth 0.00 2020-12-09T06:32:25Z- waiting for 1607495546.75, time is 1607495544.97 2020-12-09T06:32:25Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:25Z- handleDvl() - RDI_Pathfinder msg: 1607495545.78 epoch sec; seqNo:218 2020-12-09T06:32:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.54 , 97.88 , 70.21 , 89.24 2020-12-09T06:32:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.23 , -0.20 , 0.40 2020-12-09T06:32:25Z- waiting for 1607495546.75, time is 1607495545.78 2020-12-09T06:32:25Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495545.79 epoch sec; seqNo:412; 4061669.71 north; 594593.12 east 2020-12-09T06:32:25Z- waiting for 1607495546.75, time is 1607495545.78 2020-12-09T06:32:25Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:26Z- AHRS_M2 msg: 1607495546.16 epoch sec; seqNo:396 2020-12-09T06:32:26Z- AHRS_M2 msg: 4.59 phi; -0.20 theta; -0.22 psi 2020-12-09T06:32:26Z- waiting for 1607495546.75, time is 1607495545.78 2020-12-09T06:32:26Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:26Z- handleDepth()-Depth_Keller msg: 14.09 epoch sec; seqNo:1607495546162; depth 0.00 2020-12-09T06:32:26Z- waiting for 1607495546.75, time is 1607495545.78 2020-12-09T06:32:26Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:26Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:26Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:26Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:26Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:32:26Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:32:26Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:32:26Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:32:26Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:32:26Z- handleDvl() - RDI_Pathfinder msg: 1607495546.16 epoch sec; seqNo:219 2020-12-09T06:32:26Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:32:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.23 , -0.20 , 0.40 2020-12-09T06:32:26Z- waiting for 1607495546.75, time is 1607495546.16 2020-12-09T06:32:26Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495546.18 epoch sec; seqNo:413; 4061669.71 north; 594593.12 east 2020-12-09T06:32:26Z- waiting for 1607495546.75, time is 1607495546.16 2020-12-09T06:32:26Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:26Z- AHRS_M2 msg: 1607495546.58 epoch sec; seqNo:397 2020-12-09T06:32:26Z- AHRS_M2 msg: 4.60 phi; -0.21 theta; -0.21 psi 2020-12-09T06:32:26Z- waiting for 1607495546.75, time is 1607495546.16 2020-12-09T06:32:26Z- sync is 0.42, coherence is 2.00 2020-12-09T06:32:26Z- handleDepth()-Depth_Keller msg: 14.13 epoch sec; seqNo:1607495546600; depth 0.00 2020-12-09T06:32:26Z- waiting for 1607495546.75, time is 1607495546.16 2020-12-09T06:32:26Z- sync is 0.42, coherence is 2.00 2020-12-09T06:32:26Z- handleDvl() - RDI_Pathfinder msg: 1607495546.62 epoch sec; seqNo:220 2020-12-09T06:32:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.13 , 94.57 , 69.40 , 0.00 2020-12-09T06:32:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.21 , -0.30 , -0.05 2020-12-09T06:32:26Z- waiting for 1607495546.75, time is 1607495546.62 2020-12-09T06:32:26Z- sync is 0.03, coherence is 2.00 2020-12-09T06:32:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495546.63 epoch sec; seqNo:414; 4061669.71 north; 594593.12 east 2020-12-09T06:32:26Z- waiting for 1607495546.75, time is 1607495546.62 2020-12-09T06:32:26Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:26Z- AHRS_M2 msg: 1607495546.97 epoch sec; seqNo:398 2020-12-09T06:32:26Z- AHRS_M2 msg: 4.61 phi; -0.21 theta; -0.20 psi 2020-12-09T06:32:26Z- waiting for 1607495546.75, time is 1607495546.62 2020-12-09T06:32:26Z- sync is 0.35, coherence is 2.00 2020-12-09T06:32:26Z- handleDepth()-Depth_Keller msg: 14.19 epoch sec; seqNo:1607495546971; depth 0.00 2020-12-09T06:32:26Z- waiting for 1607495546.75, time is 1607495546.62 2020-12-09T06:32:26Z- sync is 0.35, coherence is 2.00 2020-12-09T06:32:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495546.98 epoch sec; seqNo:415; 4061669.69 north; 594591.90 east 2020-12-09T06:32:26Z- waiting for 1607495546.75, time is 1607495546.62 2020-12-09T06:32:26Z- sync is 0.37, coherence is 2.00 2020-12-09T06:32:27Z- AHRS_M2 msg: 1607495547.37 epoch sec; seqNo:399 2020-12-09T06:32:27Z- AHRS_M2 msg: 4.62 phi; -0.22 theta; -0.19 psi 2020-12-09T06:32:27Z- waiting for 1607495546.75, time is 1607495546.62 2020-12-09T06:32:27Z- sync is 0.75, coherence is 2.00 2020-12-09T06:32:27Z- handleDepth()-Depth_Keller msg: 14.21 epoch sec; seqNo:1607495547386; depth 0.00 2020-12-09T06:32:27Z- waiting for 1607495546.75, time is 1607495546.62 2020-12-09T06:32:27Z- sync is 0.75, coherence is 2.00 2020-12-09T06:32:27Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:27Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:27Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:27Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:32:27Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:32:27Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:32:27Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:32:27Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:32:27Z- handleDvl() - RDI_Pathfinder msg: 1607495547.39 epoch sec; seqNo:221 2020-12-09T06:32:27Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:32:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.21 , -0.30 , -0.05 2020-12-09T06:32:27Z- waiting for 1607495546.75, time is 1607495547.39 2020-12-09T06:32:27Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:27Z- LcmTrn::updateTrn() >>>> pose time 1607495547.37, meas time 1607495547.39 <<<< 2020-12-09T06:32:27Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495547.39, ping # 0. 2020-12-09T06:32:27Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495547.39 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:32:27Z- TerrainNav::motionUpdate() - currEstimate = (4061670, 594591.90, 14.21) 2020-12-09T06:32:27Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:32:27Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:32:27Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:32:27Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:32:27Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:32:27Z- TNavBF::mmse selected from filter -1 2020-12-09T06:32:27Z- variances([0], [2], and psi_berg) = 817.371167 833.152820 0.000000 2020-12-09T06:32:27Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:32:27Z- LcmTrn::cycle() - MLE : 4061634.19 594542.40 14.21 2020-12-09T06:32:27Z- LcmTrn::cycle() - MMSE : 4061669.69 594591.90 14.21 2020-12-09T06:32:27Z- LcmTrn::cycle() - COVAR: 817.37 833.15 32.04 0.00 2020-12-09T06:32:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495547.41 epoch sec; seqNo:416; 4061669.31 north; 594591.90 east 2020-12-09T06:32:27Z- waiting for 1607495550.39, time is 1607495547.39 2020-12-09T06:32:27Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:27Z- handleDepth()-Depth_Keller msg: 14.26 epoch sec; seqNo:1607495547796; depth 0.00 2020-12-09T06:32:27Z- waiting for 1607495550.39, time is 1607495547.39 2020-12-09T06:32:27Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:27Z- handleDvl() - RDI_Pathfinder msg: 1607495547.81 epoch sec; seqNo:222 2020-12-09T06:32:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 66.13 , 92.48 , 68.17 , 132.44 2020-12-09T06:32:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.33 , -0.30 , -0.44 2020-12-09T06:32:27Z- waiting for 1607495550.39, time is 1607495547.81 2020-12-09T06:32:27Z- sync is 0.40, coherence is 2.00 2020-12-09T06:32:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495547.82 epoch sec; seqNo:417; 4061669.31 north; 594591.90 east 2020-12-09T06:32:27Z- waiting for 1607495550.39, time is 1607495547.81 2020-12-09T06:32:27Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:28Z- AHRS_M2 msg: 1607495548.18 epoch sec; seqNo:400 2020-12-09T06:32:28Z- AHRS_M2 msg: 4.64 phi; -0.22 theta; -0.17 psi 2020-12-09T06:32:28Z- waiting for 1607495550.39, time is 1607495547.81 2020-12-09T06:32:28Z- sync is 0.37, coherence is 2.00 2020-12-09T06:32:28Z- handleDepth()-Depth_Keller msg: 14.29 epoch sec; seqNo:1607495548182; depth 0.00 2020-12-09T06:32:28Z- waiting for 1607495550.39, time is 1607495547.81 2020-12-09T06:32:28Z- sync is 0.37, coherence is 2.00 2020-12-09T06:32:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495548.19 epoch sec; seqNo:418; 4061668.94 north; 594591.91 east 2020-12-09T06:32:28Z- waiting for 1607495550.39, time is 1607495547.81 2020-12-09T06:32:28Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:28Z- AHRS_M2 msg: 1607495548.59 epoch sec; seqNo:401 2020-12-09T06:32:28Z- AHRS_M2 msg: 4.64 phi; -0.22 theta; -0.17 psi 2020-12-09T06:32:28Z- waiting for 1607495550.39, time is 1607495547.81 2020-12-09T06:32:28Z- sync is 0.78, coherence is 2.00 2020-12-09T06:32:28Z- handleDepth()-Depth_Keller msg: 14.32 epoch sec; seqNo:1607495548591; depth 0.00 2020-12-09T06:32:28Z- waiting for 1607495550.39, time is 1607495547.81 2020-12-09T06:32:28Z- sync is 0.78, coherence is 2.00 2020-12-09T06:32:28Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:28Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:28Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:28Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:32:28Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:32:28Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:32:28Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:32:28Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:32:28Z- handleDvl() - RDI_Pathfinder msg: 1607495548.59 epoch sec; seqNo:223 2020-12-09T06:32:28Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:32:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.33 , -0.30 , -0.44 2020-12-09T06:32:28Z- waiting for 1607495550.39, time is 1607495548.59 2020-12-09T06:32:28Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495548.60 epoch sec; seqNo:419; 4061668.94 north; 594591.91 east 2020-12-09T06:32:28Z- waiting for 1607495550.39, time is 1607495548.59 2020-12-09T06:32:28Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:28Z- AHRS_M2 msg: 1607495548.99 epoch sec; seqNo:402 2020-12-09T06:32:28Z- AHRS_M2 msg: 4.65 phi; -0.21 theta; -0.16 psi 2020-12-09T06:32:28Z- waiting for 1607495550.39, time is 1607495548.59 2020-12-09T06:32:28Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:28Z- handleDepth()-Depth_Keller msg: 14.36 epoch sec; seqNo:1607495548990; depth 0.00 2020-12-09T06:32:28Z- waiting for 1607495550.39, time is 1607495548.59 2020-12-09T06:32:28Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:29Z- handleDvl() - RDI_Pathfinder msg: 1607495549.01 epoch sec; seqNo:224 2020-12-09T06:32:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.72 , 89.24 , 66.54 , 89.24 2020-12-09T06:32:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.69 , -0.27 , -0.69 2020-12-09T06:32:29Z- waiting for 1607495550.39, time is 1607495549.01 2020-12-09T06:32:29Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495549.02 epoch sec; seqNo:420; 4061668.94 north; 594591.91 east 2020-12-09T06:32:29Z- waiting for 1607495550.39, time is 1607495549.01 2020-12-09T06:32:29Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:29Z- AHRS_M2 msg: 1607495549.39 epoch sec; seqNo:403 2020-12-09T06:32:29Z- AHRS_M2 msg: 4.66 phi; -0.21 theta; -0.16 psi 2020-12-09T06:32:29Z- waiting for 1607495550.39, time is 1607495549.01 2020-12-09T06:32:29Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:29Z- handleDepth()-Depth_Keller msg: 14.39 epoch sec; seqNo:1607495549393; depth 0.00 2020-12-09T06:32:29Z- waiting for 1607495550.39, time is 1607495549.01 2020-12-09T06:32:29Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495549.41 epoch sec; seqNo:421; 4061668.56 north; 594591.91 east 2020-12-09T06:32:29Z- waiting for 1607495550.39, time is 1607495549.01 2020-12-09T06:32:29Z- sync is 0.40, coherence is 2.00 2020-12-09T06:32:29Z- AHRS_M2 msg: 1607495549.79 epoch sec; seqNo:404 2020-12-09T06:32:29Z- AHRS_M2 msg: 4.67 phi; -0.20 theta; -0.16 psi 2020-12-09T06:32:29Z- waiting for 1607495550.39, time is 1607495549.01 2020-12-09T06:32:29Z- sync is 0.78, coherence is 2.00 2020-12-09T06:32:29Z- handleDepth()-Depth_Keller msg: 14.43 epoch sec; seqNo:1607495549797; depth 0.00 2020-12-09T06:32:29Z- waiting for 1607495550.39, time is 1607495549.01 2020-12-09T06:32:29Z- sync is 0.78, coherence is 2.00 2020-12-09T06:32:29Z- handleDvl() - RDI_Pathfinder msg: 1607495549.81 epoch sec; seqNo:225 2020-12-09T06:32:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 65.72 , 88.16 , 66.13 , 0.00 2020-12-09T06:32:29Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.18 , -0.74 2020-12-09T06:32:29Z- waiting for 1607495550.39, time is 1607495549.81 2020-12-09T06:32:29Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495549.82 epoch sec; seqNo:422; 4061668.54 north; 594590.69 east 2020-12-09T06:32:29Z- waiting for 1607495550.39, time is 1607495549.81 2020-12-09T06:32:29Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:30Z- AHRS_M2 msg: 1607495550.20 epoch sec; seqNo:405 2020-12-09T06:32:30Z- AHRS_M2 msg: 4.68 phi; -0.19 theta; -0.15 psi 2020-12-09T06:32:30Z- waiting for 1607495550.39, time is 1607495549.81 2020-12-09T06:32:30Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:30Z- handleDepth()-Depth_Keller msg: 14.45 epoch sec; seqNo:1607495550203; depth 0.00 2020-12-09T06:32:30Z- waiting for 1607495550.39, time is 1607495549.81 2020-12-09T06:32:30Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495550.22 epoch sec; seqNo:423; 4061668.16 north; 594590.70 east 2020-12-09T06:32:30Z- waiting for 1607495550.39, time is 1607495549.81 2020-12-09T06:32:30Z- sync is 0.41, coherence is 2.00 2020-12-09T06:32:30Z- AHRS_M2 msg: 1607495550.61 epoch sec; seqNo:406 2020-12-09T06:32:30Z- AHRS_M2 msg: 4.69 phi; -0.19 theta; -0.15 psi 2020-12-09T06:32:30Z- waiting for 1607495550.39, time is 1607495549.81 2020-12-09T06:32:30Z- sync is 0.80, coherence is 2.00 2020-12-09T06:32:30Z- handleDepth()-Depth_Keller msg: 14.48 epoch sec; seqNo:1607495550618; depth 0.00 2020-12-09T06:32:30Z- waiting for 1607495550.39, time is 1607495549.81 2020-12-09T06:32:30Z- sync is 0.80, coherence is 2.00 2020-12-09T06:32:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495550.65 epoch sec; seqNo:424; 4061668.15 north; 594589.48 east 2020-12-09T06:32:30Z- waiting for 1607495550.39, time is 1607495549.81 2020-12-09T06:32:30Z- sync is 0.84, coherence is 2.00 2020-12-09T06:32:30Z- AHRS_M2 msg: 1607495551.01 epoch sec; seqNo:407 2020-12-09T06:32:31Z- AHRS_M2 msg: 4.70 phi; -0.18 theta; -0.14 psi 2020-12-09T06:32:31Z- waiting for 1607495550.39, time is 1607495549.81 2020-12-09T06:32:31Z- sync is 1.20, coherence is 2.00 2020-12-09T06:32:31Z- handleDepth()-Depth_Keller msg: 14.52 epoch sec; seqNo:1607495551010; depth 0.00 2020-12-09T06:32:31Z- waiting for 1607495550.39, time is 1607495549.81 2020-12-09T06:32:31Z- sync is 1.20, coherence is 2.00 2020-12-09T06:32:31Z- handleDvl() - RDI_Pathfinder msg: 1607495551.02 epoch sec; seqNo:226 2020-12-09T06:32:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.91 , 86.00 , 66.13 , 83.84 2020-12-09T06:32:31Z- handleDvl() - RDI_Pathfinder msg: velocities 1.27 , -0.05 , -0.65 2020-12-09T06:32:31Z- waiting for 1607495550.39, time is 1607495551.02 2020-12-09T06:32:31Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:31Z- LcmTrn::updateTrn() >>>> pose time 1607495551.01, meas time 1607495551.02 <<<< 2020-12-09T06:32:31Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495551.02 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:32:31Z- TerrainNav::motionUpdate() - currEstimate = (4061668, 594589.48, 14.52) 2020-12-09T06:32:31Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:32:31Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:32:31Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:32:31Z- TNavBF::mmse selected from filter -1 2020-12-09T06:32:31Z- variances([0], [2], and psi_berg) = 817.071982 833.151655 0.000000 2020-12-09T06:32:31Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:32:31Z- LcmTrn::cycle() - MLE : 4061632.65 594541.98 14.52 2020-12-09T06:32:31Z- LcmTrn::cycle() - MMSE : 4061668.15 594589.48 14.52 2020-12-09T06:32:31Z- LcmTrn::cycle() - COVAR: 817.07 833.15 32.19 0.00 2020-12-09T06:32:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495551.05 epoch sec; seqNo:425; 4061668.15 north; 594589.48 east 2020-12-09T06:32:31Z- waiting for 1607495554.02, time is 1607495551.02 2020-12-09T06:32:31Z- sync is 0.03, coherence is 2.00 2020-12-09T06:32:31Z- AHRS_M2 msg: 1607495551.41 epoch sec; seqNo:408 2020-12-09T06:32:31Z- AHRS_M2 msg: 4.70 phi; -0.17 theta; -0.14 psi 2020-12-09T06:32:31Z- waiting for 1607495554.02, time is 1607495551.02 2020-12-09T06:32:31Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:31Z- handleDepth()-Depth_Keller msg: 14.57 epoch sec; seqNo:1607495551418; depth 0.00 2020-12-09T06:32:31Z- waiting for 1607495554.02, time is 1607495551.02 2020-12-09T06:32:31Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495551.43 epoch sec; seqNo:426; 4061668.15 north; 594589.48 east 2020-12-09T06:32:31Z- waiting for 1607495554.02, time is 1607495551.02 2020-12-09T06:32:31Z- sync is 0.41, coherence is 2.00 2020-12-09T06:32:31Z- AHRS_M2 msg: 1607495551.82 epoch sec; seqNo:409 2020-12-09T06:32:31Z- AHRS_M2 msg: 4.71 phi; -0.16 theta; -0.14 psi 2020-12-09T06:32:31Z- waiting for 1607495554.02, time is 1607495551.02 2020-12-09T06:32:31Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:31Z- handleDepth()-Depth_Keller msg: 14.60 epoch sec; seqNo:1607495551819; depth 0.00 2020-12-09T06:32:31Z- waiting for 1607495554.02, time is 1607495551.02 2020-12-09T06:32:31Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:31Z- handleDvl() - RDI_Pathfinder msg: 1607495551.83 epoch sec; seqNo:227 2020-12-09T06:32:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.49 , 83.85 , 65.31 , 77.55 2020-12-09T06:32:31Z- handleDvl() - RDI_Pathfinder msg: velocities 1.44 , 0.11 , -0.42 2020-12-09T06:32:31Z- waiting for 1607495554.02, time is 1607495551.83 2020-12-09T06:32:31Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495551.84 epoch sec; seqNo:427; 4061668.14 north; 594588.26 east 2020-12-09T06:32:31Z- waiting for 1607495554.02, time is 1607495551.83 2020-12-09T06:32:31Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:32Z- AHRS_M2 msg: 1607495552.22 epoch sec; seqNo:410 2020-12-09T06:32:32Z- AHRS_M2 msg: 4.72 phi; -0.15 theta; -0.14 psi 2020-12-09T06:32:32Z- waiting for 1607495554.02, time is 1607495551.83 2020-12-09T06:32:32Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:32Z- handleDepth()-Depth_Keller msg: 14.62 epoch sec; seqNo:1607495552228; depth 0.00 2020-12-09T06:32:32Z- waiting for 1607495554.02, time is 1607495551.83 2020-12-09T06:32:32Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495552.25 epoch sec; seqNo:428; 4061668.14 north; 594588.26 east 2020-12-09T06:32:32Z- waiting for 1607495554.02, time is 1607495551.83 2020-12-09T06:32:32Z- sync is 0.42, coherence is 2.00 2020-12-09T06:32:32Z- AHRS_M2 msg: 1607495552.62 epoch sec; seqNo:411 2020-12-09T06:32:32Z- AHRS_M2 msg: 4.72 phi; -0.14 theta; -0.13 psi 2020-12-09T06:32:32Z- waiting for 1607495554.02, time is 1607495551.83 2020-12-09T06:32:32Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:32Z- handleDepth()-Depth_Keller msg: 14.68 epoch sec; seqNo:1607495552630; depth 0.00 2020-12-09T06:32:32Z- waiting for 1607495554.02, time is 1607495551.83 2020-12-09T06:32:32Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:32Z- handleDvl() - RDI_Pathfinder msg: 1607495552.66 epoch sec; seqNo:228 2020-12-09T06:32:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 64.08 , 78.37 , 65.31 , 73.88 2020-12-09T06:32:32Z- handleDvl() - RDI_Pathfinder msg: velocities 1.50 , 0.19 , -0.12 2020-12-09T06:32:32Z- waiting for 1607495554.02, time is 1607495552.66 2020-12-09T06:32:32Z- sync is 0.04, coherence is 2.00 2020-12-09T06:32:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495552.67 epoch sec; seqNo:429; 4061668.12 north; 594587.04 east 2020-12-09T06:32:32Z- waiting for 1607495554.02, time is 1607495552.66 2020-12-09T06:32:32Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:33Z- AHRS_M2 msg: 1607495553.03 epoch sec; seqNo:412 2020-12-09T06:32:33Z- AHRS_M2 msg: 4.72 phi; -0.14 theta; -0.13 psi 2020-12-09T06:32:33Z- waiting for 1607495554.02, time is 1607495552.66 2020-12-09T06:32:33Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:33Z- handleDepth()-Depth_Keller msg: 14.72 epoch sec; seqNo:1607495553039; depth 0.00 2020-12-09T06:32:33Z- waiting for 1607495554.02, time is 1607495552.66 2020-12-09T06:32:33Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495553.06 epoch sec; seqNo:430; 4061668.12 north; 594587.04 east 2020-12-09T06:32:33Z- waiting for 1607495554.02, time is 1607495552.66 2020-12-09T06:32:33Z- sync is 0.40, coherence is 2.00 2020-12-09T06:32:33Z- AHRS_M2 msg: 1607495553.43 epoch sec; seqNo:413 2020-12-09T06:32:33Z- AHRS_M2 msg: 4.72 phi; -0.14 theta; -0.14 psi 2020-12-09T06:32:33Z- waiting for 1607495554.02, time is 1607495552.66 2020-12-09T06:32:33Z- sync is 0.77, coherence is 2.00 2020-12-09T06:32:33Z- handleDepth()-Depth_Keller msg: 14.75 epoch sec; seqNo:1607495553443; depth 0.00 2020-12-09T06:32:33Z- waiting for 1607495554.02, time is 1607495552.66 2020-12-09T06:32:33Z- sync is 0.77, coherence is 2.00 2020-12-09T06:32:33Z- handleDvl() - RDI_Pathfinder msg: 1607495553.46 epoch sec; seqNo:229 2020-12-09T06:32:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.69 , 78.88 , 65.62 , 73.38 2020-12-09T06:32:33Z- handleDvl() - RDI_Pathfinder msg: velocities 1.46 , 0.19 , 0.11 2020-12-09T06:32:33Z- waiting for 1607495554.02, time is 1607495553.46 2020-12-09T06:32:33Z- sync is 0.03, coherence is 2.00 2020-12-09T06:32:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495553.47 epoch sec; seqNo:431; 4061668.11 north; 594585.82 east 2020-12-09T06:32:33Z- waiting for 1607495554.02, time is 1607495553.46 2020-12-09T06:32:33Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:33Z- AHRS_M2 msg: 1607495553.83 epoch sec; seqNo:414 2020-12-09T06:32:33Z- AHRS_M2 msg: 4.71 phi; -0.14 theta; -0.15 psi 2020-12-09T06:32:33Z- waiting for 1607495554.02, time is 1607495553.46 2020-12-09T06:32:33Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:33Z- handleDepth()-Depth_Keller msg: 14.80 epoch sec; seqNo:1607495553838; depth 0.00 2020-12-09T06:32:33Z- waiting for 1607495554.02, time is 1607495553.46 2020-12-09T06:32:33Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495553.86 epoch sec; seqNo:432; 4061668.49 north; 594585.81 east 2020-12-09T06:32:33Z- waiting for 1607495554.02, time is 1607495553.46 2020-12-09T06:32:33Z- sync is 0.40, coherence is 2.00 2020-12-09T06:32:34Z- AHRS_M2 msg: 1607495554.25 epoch sec; seqNo:415 2020-12-09T06:32:34Z- AHRS_M2 msg: 4.71 phi; -0.14 theta; -0.16 psi 2020-12-09T06:32:34Z- waiting for 1607495554.02, time is 1607495553.46 2020-12-09T06:32:34Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:34Z- handleDepth()-Depth_Keller msg: 14.84 epoch sec; seqNo:1607495554260; depth 0.00 2020-12-09T06:32:34Z- waiting for 1607495554.02, time is 1607495553.46 2020-12-09T06:32:34Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:34Z- handleDvl() - RDI_Pathfinder msg: 1607495554.31 epoch sec; seqNo:230 2020-12-09T06:32:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.36 , 80.82 , 65.62 , 0.00 2020-12-09T06:32:34Z- handleDvl() - RDI_Pathfinder msg: velocities 1.37 , 0.14 , 0.26 2020-12-09T06:32:34Z- waiting for 1607495554.02, time is 1607495554.31 2020-12-09T06:32:34Z- sync is 0.07, coherence is 2.00 2020-12-09T06:32:34Z- LcmTrn::updateTrn() >>>> pose time 1607495554.25, meas time 1607495554.31 <<<< 2020-12-09T06:32:34Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495554.31 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:32:34Z- TerrainNav::motionUpdate() - currEstimate = (4061668, 594585.81, 14.84) 2020-12-09T06:32:34Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:32:34Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:32:34Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:32:34Z- TNavBF::mmse selected from filter -1 2020-12-09T06:32:34Z- variances([0], [2], and psi_berg) = 816.736277 833.150366 0.000000 2020-12-09T06:32:34Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:32:34Z- LcmTrn::cycle() - MLE : 4061632.99 594538.31 14.84 2020-12-09T06:32:34Z- LcmTrn::cycle() - MMSE : 4061668.49 594585.81 14.84 2020-12-09T06:32:34Z- LcmTrn::cycle() - COVAR: 816.74 833.15 32.38 0.00 2020-12-09T06:32:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495554.33 epoch sec; seqNo:433; 4061668.48 north; 594584.59 east 2020-12-09T06:32:34Z- waiting for 1607495557.31, time is 1607495554.31 2020-12-09T06:32:34Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:34Z- AHRS_M2 msg: 1607495554.64 epoch sec; seqNo:416 2020-12-09T06:32:34Z- AHRS_M2 msg: 4.70 phi; -0.14 theta; -0.18 psi 2020-12-09T06:32:34Z- waiting for 1607495557.31, time is 1607495554.31 2020-12-09T06:32:34Z- sync is 0.33, coherence is 2.00 2020-12-09T06:32:34Z- handleDepth()-Depth_Keller msg: 14.90 epoch sec; seqNo:1607495554648; depth 0.00 2020-12-09T06:32:34Z- waiting for 1607495557.31, time is 1607495554.31 2020-12-09T06:32:34Z- sync is 0.33, coherence is 2.00 2020-12-09T06:32:34Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:34Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:34Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:34Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:32:34Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:32:34Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:32:34Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:32:34Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:32:34Z- handleDvl() - RDI_Pathfinder msg: 1607495554.65 epoch sec; seqNo:231 2020-12-09T06:32:34Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:32:34Z- handleDvl() - RDI_Pathfinder msg: velocities 1.37 , 0.14 , 0.26 2020-12-09T06:32:34Z- waiting for 1607495557.31, time is 1607495554.65 2020-12-09T06:32:34Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495554.66 epoch sec; seqNo:434; 4061668.48 north; 594584.59 east 2020-12-09T06:32:34Z- waiting for 1607495557.31, time is 1607495554.65 2020-12-09T06:32:34Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:35Z- AHRS_M2 msg: 1607495555.05 epoch sec; seqNo:417 2020-12-09T06:32:35Z- AHRS_M2 msg: 4.70 phi; -0.15 theta; -0.19 psi 2020-12-09T06:32:35Z- waiting for 1607495557.31, time is 1607495554.65 2020-12-09T06:32:35Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:35Z- handleDepth()-Depth_Keller msg: 14.94 epoch sec; seqNo:1607495555051; depth 0.00 2020-12-09T06:32:35Z- waiting for 1607495557.31, time is 1607495554.65 2020-12-09T06:32:35Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495555.06 epoch sec; seqNo:435; 4061668.46 north; 594583.37 east 2020-12-09T06:32:35Z- waiting for 1607495557.31, time is 1607495554.65 2020-12-09T06:32:35Z- sync is 0.41, coherence is 2.00 2020-12-09T06:32:35Z- AHRS_M2 msg: 1607495555.45 epoch sec; seqNo:418 2020-12-09T06:32:35Z- AHRS_M2 msg: 4.70 phi; -0.15 theta; -0.20 psi 2020-12-09T06:32:35Z- waiting for 1607495557.31, time is 1607495554.65 2020-12-09T06:32:35Z- sync is 0.80, coherence is 2.00 2020-12-09T06:32:35Z- handleDepth()-Depth_Keller msg: 15.00 epoch sec; seqNo:1607495555454; depth 0.00 2020-12-09T06:32:35Z- waiting for 1607495557.31, time is 1607495554.65 2020-12-09T06:32:35Z- sync is 0.80, coherence is 2.00 2020-12-09T06:32:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495555.46 epoch sec; seqNo:436; 4061668.46 north; 594583.37 east 2020-12-09T06:32:35Z- waiting for 1607495557.31, time is 1607495554.65 2020-12-09T06:32:35Z- sync is 0.81, coherence is 2.00 2020-12-09T06:32:35Z- AHRS_M2 msg: 1607495555.85 epoch sec; seqNo:419 2020-12-09T06:32:35Z- AHRS_M2 msg: 4.70 phi; -0.15 theta; -0.22 psi 2020-12-09T06:32:35Z- waiting for 1607495557.31, time is 1607495554.65 2020-12-09T06:32:35Z- sync is 1.20, coherence is 2.00 2020-12-09T06:32:35Z- handleDepth()-Depth_Keller msg: 15.05 epoch sec; seqNo:1607495555861; depth 0.00 2020-12-09T06:32:35Z- waiting for 1607495557.31, time is 1607495554.65 2020-12-09T06:32:35Z- sync is 1.20, coherence is 2.00 2020-12-09T06:32:35Z- handleDvl() - RDI_Pathfinder msg: 1607495555.87 epoch sec; seqNo:232 2020-12-09T06:32:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.45 , 87.09 , 66.12 , 80.61 2020-12-09T06:32:35Z- handleDvl() - RDI_Pathfinder msg: velocities 1.31 , 0.12 , 0.31 2020-12-09T06:32:35Z- waiting for 1607495557.31, time is 1607495555.87 2020-12-09T06:32:35Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495555.90 epoch sec; seqNo:437; 4061668.83 north; 594582.15 east 2020-12-09T06:32:35Z- waiting for 1607495557.31, time is 1607495555.87 2020-12-09T06:32:35Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:36Z- AHRS_M2 msg: 1607495556.26 epoch sec; seqNo:420 2020-12-09T06:32:36Z- AHRS_M2 msg: 4.70 phi; -0.15 theta; -0.22 psi 2020-12-09T06:32:36Z- waiting for 1607495557.31, time is 1607495555.87 2020-12-09T06:32:36Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:36Z- handleDepth()-Depth_Keller msg: 15.11 epoch sec; seqNo:1607495556270; depth 0.00 2020-12-09T06:32:36Z- waiting for 1607495557.31, time is 1607495555.87 2020-12-09T06:32:36Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495556.28 epoch sec; seqNo:438; 4061668.83 north; 594582.15 east 2020-12-09T06:32:36Z- waiting for 1607495557.31, time is 1607495555.87 2020-12-09T06:32:36Z- sync is 0.41, coherence is 2.00 2020-12-09T06:32:36Z- AHRS_M2 msg: 1607495556.67 epoch sec; seqNo:421 2020-12-09T06:32:36Z- AHRS_M2 msg: 4.70 phi; -0.15 theta; -0.23 psi 2020-12-09T06:32:36Z- waiting for 1607495557.31, time is 1607495555.87 2020-12-09T06:32:36Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:36Z- handleDepth()-Depth_Keller msg: 15.17 epoch sec; seqNo:1607495556673; depth 0.00 2020-12-09T06:32:36Z- waiting for 1607495557.31, time is 1607495555.87 2020-12-09T06:32:36Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:36Z- handleDvl() - RDI_Pathfinder msg: 1607495556.68 epoch sec; seqNo:233 2020-12-09T06:32:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.86 , 89.25 , 66.94 , 77.96 2020-12-09T06:32:36Z- handleDvl() - RDI_Pathfinder msg: velocities 1.22 , 0.12 , 0.31 2020-12-09T06:32:36Z- waiting for 1607495557.31, time is 1607495556.68 2020-12-09T06:32:36Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495556.69 epoch sec; seqNo:439; 4061668.83 north; 594582.15 east 2020-12-09T06:32:36Z- waiting for 1607495557.31, time is 1607495556.68 2020-12-09T06:32:36Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:37Z- AHRS_M2 msg: 1607495557.07 epoch sec; seqNo:422 2020-12-09T06:32:37Z- AHRS_M2 msg: 4.70 phi; -0.16 theta; -0.23 psi 2020-12-09T06:32:37Z- waiting for 1607495557.31, time is 1607495556.68 2020-12-09T06:32:37Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:37Z- handleDepth()-Depth_Keller msg: 15.22 epoch sec; seqNo:1607495557102; depth 0.00 2020-12-09T06:32:37Z- waiting for 1607495557.31, time is 1607495556.68 2020-12-09T06:32:37Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495557.11 epoch sec; seqNo:440; 4061668.81 north; 594580.93 east 2020-12-09T06:32:37Z- waiting for 1607495557.31, time is 1607495556.68 2020-12-09T06:32:37Z- sync is 0.43, coherence is 2.00 2020-12-09T06:32:37Z- AHRS_M2 msg: 1607495557.47 epoch sec; seqNo:423 2020-12-09T06:32:37Z- AHRS_M2 msg: 4.71 phi; -0.16 theta; -0.23 psi 2020-12-09T06:32:37Z- waiting for 1607495557.31, time is 1607495556.68 2020-12-09T06:32:37Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:37Z- handleDepth()-Depth_Keller msg: 15.29 epoch sec; seqNo:1607495557525; depth 0.00 2020-12-09T06:32:37Z- waiting for 1607495557.31, time is 1607495556.68 2020-12-09T06:32:37Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495557.58 epoch sec; seqNo:441; 4061668.81 north; 594580.93 east 2020-12-09T06:32:37Z- waiting for 1607495557.31, time is 1607495556.68 2020-12-09T06:32:37Z- sync is 0.90, coherence is 2.00 2020-12-09T06:32:37Z- AHRS_M2 msg: 1607495557.88 epoch sec; seqNo:424 2020-12-09T06:32:37Z- AHRS_M2 msg: 4.71 phi; -0.16 theta; -0.23 psi 2020-12-09T06:32:37Z- waiting for 1607495557.31, time is 1607495556.68 2020-12-09T06:32:37Z- sync is 1.19, coherence is 2.00 2020-12-09T06:32:37Z- handleDepth()-Depth_Keller msg: 15.36 epoch sec; seqNo:1607495557885; depth 0.00 2020-12-09T06:32:37Z- waiting for 1607495557.31, time is 1607495556.68 2020-12-09T06:32:37Z- sync is 1.19, coherence is 2.00 2020-12-09T06:32:37Z- handleDvl() - RDI_Pathfinder msg: 1607495557.90 epoch sec; seqNo:234 2020-12-09T06:32:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.45 , 90.33 , 66.12 , 0.00 2020-12-09T06:32:37Z- handleDvl() - RDI_Pathfinder msg: velocities 1.13 , 0.14 , 0.31 2020-12-09T06:32:37Z- waiting for 1607495557.31, time is 1607495557.90 2020-12-09T06:32:37Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:37Z- LcmTrn::updateTrn() >>>> pose time 1607495557.88, meas time 1607495557.90 <<<< 2020-12-09T06:32:37Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495557.90 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:32:37Z- TerrainNav::motionUpdate() - currEstimate = (4061669, 594580.93, 15.36) 2020-12-09T06:32:37Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:32:37Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:32:37Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:32:37Z- TNavBF::mmse selected from filter -1 2020-12-09T06:32:37Z- variances([0], [2], and psi_berg) = 816.352843 833.148914 0.000000 2020-12-09T06:32:37Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:32:37Z- LcmTrn::cycle() - MLE : 4061634.31 594532.43 15.36 2020-12-09T06:32:37Z- LcmTrn::cycle() - MMSE : 4061668.81 594580.93 15.36 2020-12-09T06:32:37Z- LcmTrn::cycle() - COVAR: 816.35 833.15 32.63 0.00 2020-12-09T06:32:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495557.91 epoch sec; seqNo:442; 4061669.18 north; 594579.70 east 2020-12-09T06:32:37Z- waiting for 1607495560.90, time is 1607495557.90 2020-12-09T06:32:37Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:38Z- AHRS_M2 msg: 1607495558.28 epoch sec; seqNo:425 2020-12-09T06:32:38Z- AHRS_M2 msg: 4.71 phi; -0.16 theta; -0.23 psi 2020-12-09T06:32:38Z- waiting for 1607495560.90, time is 1607495557.90 2020-12-09T06:32:38Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:38Z- handleDepth()-Depth_Keller msg: 15.43 epoch sec; seqNo:1607495558291; depth 0.00 2020-12-09T06:32:38Z- waiting for 1607495560.90, time is 1607495557.90 2020-12-09T06:32:38Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495558.31 epoch sec; seqNo:443; 4061669.18 north; 594579.70 east 2020-12-09T06:32:38Z- waiting for 1607495560.90, time is 1607495557.90 2020-12-09T06:32:38Z- sync is 0.41, coherence is 2.00 2020-12-09T06:32:38Z- AHRS_M2 msg: 1607495558.69 epoch sec; seqNo:426 2020-12-09T06:32:38Z- AHRS_M2 msg: 4.70 phi; -0.16 theta; -0.23 psi 2020-12-09T06:32:38Z- waiting for 1607495560.90, time is 1607495557.90 2020-12-09T06:32:38Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:38Z- handleDepth()-Depth_Keller msg: 15.51 epoch sec; seqNo:1607495558697; depth 0.00 2020-12-09T06:32:38Z- waiting for 1607495560.90, time is 1607495557.90 2020-12-09T06:32:38Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:38Z- handleDvl() - RDI_Pathfinder msg: 1607495558.71 epoch sec; seqNo:235 2020-12-09T06:32:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.45 , 89.25 , 66.94 , 83.85 2020-12-09T06:32:38Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , 0.15 , 0.30 2020-12-09T06:32:38Z- waiting for 1607495560.90, time is 1607495558.71 2020-12-09T06:32:38Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495558.73 epoch sec; seqNo:444; 4061669.18 north; 594579.70 east 2020-12-09T06:32:38Z- waiting for 1607495560.90, time is 1607495558.71 2020-12-09T06:32:38Z- sync is 0.03, coherence is 2.00 2020-12-09T06:32:39Z- AHRS_M2 msg: 1607495559.09 epoch sec; seqNo:427 2020-12-09T06:32:39Z- AHRS_M2 msg: 4.70 phi; -0.16 theta; -0.23 psi 2020-12-09T06:32:39Z- waiting for 1607495560.90, time is 1607495558.71 2020-12-09T06:32:39Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:39Z- handleDepth()-Depth_Keller msg: 15.57 epoch sec; seqNo:1607495559093; depth 0.00 2020-12-09T06:32:39Z- waiting for 1607495560.90, time is 1607495558.71 2020-12-09T06:32:39Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495559.11 epoch sec; seqNo:445; 4061669.17 north; 594578.48 east 2020-12-09T06:32:39Z- waiting for 1607495560.90, time is 1607495558.71 2020-12-09T06:32:39Z- sync is 0.40, coherence is 2.00 2020-12-09T06:32:39Z- AHRS_M2 msg: 1607495559.49 epoch sec; seqNo:428 2020-12-09T06:32:39Z- AHRS_M2 msg: 4.69 phi; -0.17 theta; -0.23 psi 2020-12-09T06:32:39Z- waiting for 1607495560.90, time is 1607495558.71 2020-12-09T06:32:39Z- sync is 0.78, coherence is 2.00 2020-12-09T06:32:39Z- handleDepth()-Depth_Keller msg: 15.63 epoch sec; seqNo:1607495559495; depth 0.00 2020-12-09T06:32:39Z- waiting for 1607495560.90, time is 1607495558.71 2020-12-09T06:32:39Z- sync is 0.78, coherence is 2.00 2020-12-09T06:32:39Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:39Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:39Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:39Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:32:39Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:32:39Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:32:39Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:32:39Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:32:39Z- handleDvl() - RDI_Pathfinder msg: 1607495559.50 epoch sec; seqNo:236 2020-12-09T06:32:39Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:32:39Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , 0.15 , 0.30 2020-12-09T06:32:39Z- waiting for 1607495560.90, time is 1607495559.50 2020-12-09T06:32:39Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495559.51 epoch sec; seqNo:446; 4061669.17 north; 594578.48 east 2020-12-09T06:32:39Z- waiting for 1607495560.90, time is 1607495559.50 2020-12-09T06:32:39Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:39Z- AHRS_M2 msg: 1607495559.90 epoch sec; seqNo:429 2020-12-09T06:32:39Z- AHRS_M2 msg: 4.69 phi; -0.17 theta; -0.24 psi 2020-12-09T06:32:39Z- waiting for 1607495560.90, time is 1607495559.50 2020-12-09T06:32:39Z- sync is 0.40, coherence is 2.00 2020-12-09T06:32:39Z- handleDepth()-Depth_Keller msg: 15.72 epoch sec; seqNo:1607495559906; depth 0.00 2020-12-09T06:32:39Z- waiting for 1607495560.90, time is 1607495559.50 2020-12-09T06:32:39Z- sync is 0.40, coherence is 2.00 2020-12-09T06:32:39Z- handleDvl() - RDI_Pathfinder msg: 1607495559.92 epoch sec; seqNo:237 2020-12-09T06:32:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.86 , 88.17 , 66.53 , 83.85 2020-12-09T06:32:39Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.15 , 0.30 2020-12-09T06:32:39Z- waiting for 1607495560.90, time is 1607495559.92 2020-12-09T06:32:39Z- sync is 0.03, coherence is 2.00 2020-12-09T06:32:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495559.94 epoch sec; seqNo:447; 4061669.54 north; 594578.48 east 2020-12-09T06:32:39Z- waiting for 1607495560.90, time is 1607495559.92 2020-12-09T06:32:39Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:40Z- AHRS_M2 msg: 1607495560.30 epoch sec; seqNo:430 2020-12-09T06:32:40Z- AHRS_M2 msg: 4.68 phi; -0.17 theta; -0.24 psi 2020-12-09T06:32:40Z- waiting for 1607495560.90, time is 1607495559.92 2020-12-09T06:32:40Z- sync is 0.37, coherence is 2.00 2020-12-09T06:32:40Z- handleDepth()-Depth_Keller msg: 15.78 epoch sec; seqNo:1607495560307; depth 0.00 2020-12-09T06:32:40Z- waiting for 1607495560.90, time is 1607495559.92 2020-12-09T06:32:40Z- sync is 0.37, coherence is 2.00 2020-12-09T06:32:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495560.32 epoch sec; seqNo:448; 4061669.53 north; 594577.26 east 2020-12-09T06:32:40Z- waiting for 1607495560.90, time is 1607495559.92 2020-12-09T06:32:40Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:40Z- AHRS_M2 msg: 1607495560.70 epoch sec; seqNo:431 2020-12-09T06:32:40Z- AHRS_M2 msg: 4.67 phi; -0.17 theta; -0.25 psi 2020-12-09T06:32:40Z- waiting for 1607495560.90, time is 1607495559.92 2020-12-09T06:32:40Z- sync is 0.78, coherence is 2.00 2020-12-09T06:32:40Z- handleDepth()-Depth_Keller msg: 15.85 epoch sec; seqNo:1607495560710; depth 0.00 2020-12-09T06:32:40Z- waiting for 1607495560.90, time is 1607495559.92 2020-12-09T06:32:40Z- sync is 0.78, coherence is 2.00 2020-12-09T06:32:40Z- handleDvl() - RDI_Pathfinder msg: 1607495560.72 epoch sec; seqNo:238 2020-12-09T06:32:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.67 , 89.25 , 66.53 , 79.18 2020-12-09T06:32:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , 0.10 , 0.29 2020-12-09T06:32:40Z- waiting for 1607495560.90, time is 1607495560.72 2020-12-09T06:32:40Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495560.74 epoch sec; seqNo:449; 4061669.53 north; 594577.26 east 2020-12-09T06:32:40Z- waiting for 1607495560.90, time is 1607495560.72 2020-12-09T06:32:40Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:41Z- AHRS_M2 msg: 1607495561.11 epoch sec; seqNo:432 2020-12-09T06:32:41Z- AHRS_M2 msg: 4.66 phi; -0.18 theta; -0.25 psi 2020-12-09T06:32:41Z- waiting for 1607495560.90, time is 1607495560.72 2020-12-09T06:32:41Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:41Z- handleDepth()-Depth_Keller msg: 15.92 epoch sec; seqNo:1607495561111; depth 0.00 2020-12-09T06:32:41Z- waiting for 1607495560.90, time is 1607495560.72 2020-12-09T06:32:41Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495561.13 epoch sec; seqNo:450; 4061669.53 north; 594577.26 east 2020-12-09T06:32:41Z- waiting for 1607495560.90, time is 1607495560.72 2020-12-09T06:32:41Z- sync is 0.41, coherence is 2.00 2020-12-09T06:32:41Z- AHRS_M2 msg: 1607495561.51 epoch sec; seqNo:433 2020-12-09T06:32:41Z- AHRS_M2 msg: 4.66 phi; -0.18 theta; -0.26 psi 2020-12-09T06:32:41Z- waiting for 1607495560.90, time is 1607495560.72 2020-12-09T06:32:41Z- sync is 0.78, coherence is 2.00 2020-12-09T06:32:41Z- handleDepth()-Depth_Keller msg: 16.00 epoch sec; seqNo:1607495561522; depth 0.00 2020-12-09T06:32:41Z- waiting for 1607495560.90, time is 1607495560.72 2020-12-09T06:32:41Z- sync is 0.78, coherence is 2.00 2020-12-09T06:32:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495561.55 epoch sec; seqNo:451; 4061669.53 north; 594577.26 east 2020-12-09T06:32:41Z- waiting for 1607495560.90, time is 1607495560.72 2020-12-09T06:32:41Z- sync is 0.82, coherence is 2.00 2020-12-09T06:32:41Z- AHRS_M2 msg: 1607495561.91 epoch sec; seqNo:434 2020-12-09T06:32:41Z- AHRS_M2 msg: 4.66 phi; -0.19 theta; -0.26 psi 2020-12-09T06:32:41Z- waiting for 1607495560.90, time is 1607495560.72 2020-12-09T06:32:41Z- sync is 1.19, coherence is 2.00 2020-12-09T06:32:41Z- handleDepth()-Depth_Keller msg: 16.06 epoch sec; seqNo:1607495561924; depth 0.00 2020-12-09T06:32:41Z- waiting for 1607495560.90, time is 1607495560.72 2020-12-09T06:32:41Z- sync is 1.19, coherence is 2.00 2020-12-09T06:32:41Z- handleDvl() - RDI_Pathfinder msg: 1607495561.94 epoch sec; seqNo:239 2020-12-09T06:32:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.27 , 92.49 , 67.76 , 0.00 2020-12-09T06:32:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.66 , 0.02 , 0.22 2020-12-09T06:32:41Z- waiting for 1607495560.90, time is 1607495561.94 2020-12-09T06:32:41Z- sync is 0.03, coherence is 2.00 2020-12-09T06:32:41Z- LcmTrn::updateTrn() >>>> pose time 1607495561.91, meas time 1607495561.94 <<<< 2020-12-09T06:32:41Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495561.94 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:32:41Z- TerrainNav::motionUpdate() - currEstimate = (4061670, 594577.26, 16.06) 2020-12-09T06:32:41Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:32:41Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:32:41Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:32:41Z- TNavBF::mmse selected from filter -1 2020-12-09T06:32:41Z- variances([0], [2], and psi_berg) = 816.021498 833.147681 0.000000 2020-12-09T06:32:41Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:32:41Z- LcmTrn::cycle() - MLE : 4061635.03 594528.76 16.06 2020-12-09T06:32:41Z- LcmTrn::cycle() - MMSE : 4061669.53 594577.26 16.06 2020-12-09T06:32:41Z- LcmTrn::cycle() - COVAR: 816.02 833.15 32.82 0.00 2020-12-09T06:32:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495561.97 epoch sec; seqNo:452; 4061669.52 north; 594576.04 east 2020-12-09T06:32:41Z- waiting for 1607495564.94, time is 1607495561.94 2020-12-09T06:32:41Z- sync is 0.03, coherence is 2.00 2020-12-09T06:32:42Z- AHRS_M2 msg: 1607495562.34 epoch sec; seqNo:435 2020-12-09T06:32:42Z- AHRS_M2 msg: 4.65 phi; -0.19 theta; -0.27 psi 2020-12-09T06:32:42Z- waiting for 1607495564.94, time is 1607495561.94 2020-12-09T06:32:42Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:42Z- handleDepth()-Depth_Keller msg: 16.12 epoch sec; seqNo:1607495562344; depth 0.00 2020-12-09T06:32:42Z- waiting for 1607495564.94, time is 1607495561.94 2020-12-09T06:32:42Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495562.36 epoch sec; seqNo:453; 4061669.52 north; 594576.04 east 2020-12-09T06:32:42Z- waiting for 1607495564.94, time is 1607495561.94 2020-12-09T06:32:42Z- sync is 0.42, coherence is 2.00 2020-12-09T06:32:42Z- handleDepth()-Depth_Keller msg: 16.18 epoch sec; seqNo:1607495562746; depth 0.00 2020-12-09T06:32:42Z- waiting for 1607495564.94, time is 1607495561.94 2020-12-09T06:32:42Z- sync is 0.42, coherence is 2.00 2020-12-09T06:32:42Z- handleDvl() - RDI_Pathfinder msg: 1607495562.76 epoch sec; seqNo:240 2020-12-09T06:32:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.86 , 97.89 , 66.94 , 89.25 2020-12-09T06:32:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.53 , -0.06 , 0.10 2020-12-09T06:32:42Z- waiting for 1607495564.94, time is 1607495562.76 2020-12-09T06:32:42Z- sync is 0.40, coherence is 2.00 2020-12-09T06:32:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495562.77 epoch sec; seqNo:454; 4061669.52 north; 594576.04 east 2020-12-09T06:32:42Z- waiting for 1607495564.94, time is 1607495562.76 2020-12-09T06:32:42Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:43Z- AHRS_M2 msg: 1607495563.13 epoch sec; seqNo:436 2020-12-09T06:32:43Z- AHRS_M2 msg: 4.65 phi; -0.20 theta; -0.28 psi 2020-12-09T06:32:43Z- waiting for 1607495564.94, time is 1607495562.76 2020-12-09T06:32:43Z- sync is 0.37, coherence is 2.00 2020-12-09T06:32:43Z- handleDepth()-Depth_Keller msg: 16.24 epoch sec; seqNo:1607495563160; depth 0.00 2020-12-09T06:32:43Z- waiting for 1607495564.94, time is 1607495562.76 2020-12-09T06:32:43Z- sync is 0.37, coherence is 2.00 2020-12-09T06:32:43Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:43Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:43Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:43Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:32:43Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:32:43Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:32:43Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:32:43Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:32:43Z- handleDvl() - RDI_Pathfinder msg: 1607495563.16 epoch sec; seqNo:241 2020-12-09T06:32:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:32:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.53 , -0.06 , 0.10 2020-12-09T06:32:43Z- waiting for 1607495564.94, time is 1607495563.16 2020-12-09T06:32:43Z- sync is 0.03, coherence is 2.00 2020-12-09T06:32:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495563.19 epoch sec; seqNo:455; 4061669.52 north; 594576.04 east 2020-12-09T06:32:43Z- waiting for 1607495564.94, time is 1607495563.16 2020-12-09T06:32:43Z- sync is 0.03, coherence is 2.00 2020-12-09T06:32:43Z- AHRS_M2 msg: 1607495563.53 epoch sec; seqNo:437 2020-12-09T06:32:43Z- AHRS_M2 msg: 4.64 phi; -0.21 theta; -0.29 psi 2020-12-09T06:32:43Z- waiting for 1607495564.94, time is 1607495563.16 2020-12-09T06:32:43Z- sync is 0.37, coherence is 2.00 2020-12-09T06:32:43Z- handleDepth()-Depth_Keller msg: 16.29 epoch sec; seqNo:1607495563560; depth 0.00 2020-12-09T06:32:43Z- waiting for 1607495564.94, time is 1607495563.16 2020-12-09T06:32:43Z- sync is 0.37, coherence is 2.00 2020-12-09T06:32:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495563.59 epoch sec; seqNo:456; 4061669.52 north; 594576.04 east 2020-12-09T06:32:43Z- waiting for 1607495564.94, time is 1607495563.16 2020-12-09T06:32:43Z- sync is 0.43, coherence is 2.00 2020-12-09T06:32:43Z- AHRS_M2 msg: 1607495563.93 epoch sec; seqNo:438 2020-12-09T06:32:43Z- AHRS_M2 msg: 4.64 phi; -0.21 theta; -0.29 psi 2020-12-09T06:32:43Z- waiting for 1607495564.94, time is 1607495563.16 2020-12-09T06:32:43Z- sync is 0.77, coherence is 2.00 2020-12-09T06:32:43Z- handleDepth()-Depth_Keller msg: 16.34 epoch sec; seqNo:1607495563969; depth 0.00 2020-12-09T06:32:43Z- waiting for 1607495564.94, time is 1607495563.16 2020-12-09T06:32:43Z- sync is 0.77, coherence is 2.00 2020-12-09T06:32:43Z- handleDvl() - RDI_Pathfinder msg: 1607495563.98 epoch sec; seqNo:242 2020-12-09T06:32:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 63.27 , 94.65 , 66.94 , 90.33 2020-12-09T06:32:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.52 , -0.19 , -0.05 2020-12-09T06:32:43Z- waiting for 1607495564.94, time is 1607495563.98 2020-12-09T06:32:43Z- sync is 0.05, coherence is 2.00 2020-12-09T06:32:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495564.01 epoch sec; seqNo:457; 4061669.52 north; 594576.04 east 2020-12-09T06:32:44Z- waiting for 1607495564.94, time is 1607495563.98 2020-12-09T06:32:44Z- sync is 0.03, coherence is 2.00 2020-12-09T06:32:44Z- AHRS_M2 msg: 1607495564.34 epoch sec; seqNo:439 2020-12-09T06:32:44Z- AHRS_M2 msg: 4.64 phi; -0.21 theta; -0.29 psi 2020-12-09T06:32:44Z- waiting for 1607495564.94, time is 1607495563.98 2020-12-09T06:32:44Z- sync is 0.36, coherence is 2.00 2020-12-09T06:32:44Z- handleDepth()-Depth_Keller msg: 16.39 epoch sec; seqNo:1607495564376; depth 0.00 2020-12-09T06:32:44Z- waiting for 1607495564.94, time is 1607495563.98 2020-12-09T06:32:44Z- sync is 0.36, coherence is 2.00 2020-12-09T06:32:44Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:44Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:44Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:44Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:32:44Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:32:44Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:32:44Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:32:44Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:32:44Z- handleDvl() - RDI_Pathfinder msg: 1607495564.38 epoch sec; seqNo:243 2020-12-09T06:32:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:32:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.52 , -0.19 , -0.05 2020-12-09T06:32:44Z- waiting for 1607495564.94, time is 1607495564.38 2020-12-09T06:32:44Z- sync is 0.04, coherence is 2.00 2020-12-09T06:32:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495564.39 epoch sec; seqNo:458; 4061669.50 north; 594574.82 east 2020-12-09T06:32:44Z- waiting for 1607495564.94, time is 1607495564.38 2020-12-09T06:32:44Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:44Z- AHRS_M2 msg: 1607495564.74 epoch sec; seqNo:440 2020-12-09T06:32:44Z- AHRS_M2 msg: 4.65 phi; -0.22 theta; -0.30 psi 2020-12-09T06:32:44Z- waiting for 1607495564.94, time is 1607495564.38 2020-12-09T06:32:44Z- sync is 0.36, coherence is 2.00 2020-12-09T06:32:44Z- handleDepth()-Depth_Keller msg: 16.44 epoch sec; seqNo:1607495564772; depth 0.00 2020-12-09T06:32:44Z- waiting for 1607495564.94, time is 1607495564.38 2020-12-09T06:32:44Z- sync is 0.36, coherence is 2.00 2020-12-09T06:32:44Z- handleDvl() - RDI_Pathfinder msg: 1607495564.79 epoch sec; seqNo:244 2020-12-09T06:32:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.45 , 94.65 , 65.72 , 91.41 2020-12-09T06:32:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.61 , -0.29 , -0.21 2020-12-09T06:32:44Z- waiting for 1607495564.94, time is 1607495564.79 2020-12-09T06:32:44Z- sync is 0.04, coherence is 2.00 2020-12-09T06:32:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495564.80 epoch sec; seqNo:459; 4061669.13 north; 594574.82 east 2020-12-09T06:32:44Z- waiting for 1607495564.94, time is 1607495564.79 2020-12-09T06:32:44Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:45Z- AHRS_M2 msg: 1607495565.14 epoch sec; seqNo:441 2020-12-09T06:32:45Z- AHRS_M2 msg: 4.65 phi; -0.22 theta; -0.29 psi 2020-12-09T06:32:45Z- waiting for 1607495564.94, time is 1607495564.79 2020-12-09T06:32:45Z- sync is 0.36, coherence is 2.00 2020-12-09T06:32:45Z- handleDepth()-Depth_Keller msg: 16.47 epoch sec; seqNo:1607495565151; depth 0.00 2020-12-09T06:32:45Z- waiting for 1607495564.94, time is 1607495564.79 2020-12-09T06:32:45Z- sync is 0.36, coherence is 2.00 2020-12-09T06:32:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495565.16 epoch sec; seqNo:460; 4061669.13 north; 594574.82 east 2020-12-09T06:32:45Z- waiting for 1607495564.94, time is 1607495564.79 2020-12-09T06:32:45Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:45Z- AHRS_M2 msg: 1607495565.55 epoch sec; seqNo:442 2020-12-09T06:32:45Z- AHRS_M2 msg: 4.65 phi; -0.22 theta; -0.29 psi 2020-12-09T06:32:45Z- waiting for 1607495564.94, time is 1607495564.79 2020-12-09T06:32:45Z- sync is 0.76, coherence is 2.00 2020-12-09T06:32:45Z- handleDepth()-Depth_Keller msg: 16.53 epoch sec; seqNo:1607495565556; depth 0.00 2020-12-09T06:32:45Z- waiting for 1607495564.94, time is 1607495564.79 2020-12-09T06:32:45Z- sync is 0.76, coherence is 2.00 2020-12-09T06:32:45Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:45Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:45Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:45Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:32:45Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:32:45Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:32:45Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:32:45Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:32:45Z- handleDvl() - RDI_Pathfinder msg: 1607495565.56 epoch sec; seqNo:245 2020-12-09T06:32:45Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:32:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.61 , -0.29 , -0.21 2020-12-09T06:32:45Z- waiting for 1607495564.94, time is 1607495565.56 2020-12-09T06:32:45Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:45Z- LcmTrn::updateTrn() >>>> pose time 1607495565.55, meas time 1607495565.56 <<<< 2020-12-09T06:32:45Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495565.56, ping # 0. 2020-12-09T06:32:45Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495565.56 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:32:45Z- TerrainNav::motionUpdate() - currEstimate = (4061669, 594574.82, 16.53) 2020-12-09T06:32:45Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:32:45Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:32:45Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:32:45Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:32:45Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:32:45Z- TNavBF::mmse selected from filter -1 2020-12-09T06:32:45Z- variances([0], [2], and psi_berg) = 815.754751 833.146703 0.000000 2020-12-09T06:32:45Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:32:45Z- LcmTrn::cycle() - MLE : 4061634.63 594526.32 16.53 2020-12-09T06:32:45Z- LcmTrn::cycle() - MMSE : 4061669.13 594574.82 16.53 2020-12-09T06:32:45Z- LcmTrn::cycle() - COVAR: 815.75 833.15 32.94 0.00 2020-12-09T06:32:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495565.57 epoch sec; seqNo:461; 4061668.75 north; 594574.82 east 2020-12-09T06:32:45Z- waiting for 1607495568.56, time is 1607495565.56 2020-12-09T06:32:45Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:45Z- AHRS_M2 msg: 1607495565.96 epoch sec; seqNo:443 2020-12-09T06:32:45Z- AHRS_M2 msg: 4.66 phi; -0.21 theta; -0.28 psi 2020-12-09T06:32:45Z- waiting for 1607495568.56, time is 1607495565.56 2020-12-09T06:32:45Z- sync is 0.40, coherence is 2.00 2020-12-09T06:32:45Z- handleDepth()-Depth_Keller msg: 16.58 epoch sec; seqNo:1607495565961; depth 0.00 2020-12-09T06:32:45Z- waiting for 1607495568.56, time is 1607495565.56 2020-12-09T06:32:45Z- sync is 0.40, coherence is 2.00 2020-12-09T06:32:45Z- handleDvl() - RDI_Pathfinder msg: 1607495565.99 epoch sec; seqNo:246 2020-12-09T06:32:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.86 , 94.65 , 65.72 , 92.49 2020-12-09T06:32:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.31 , -0.36 2020-12-09T06:32:45Z- waiting for 1607495568.56, time is 1607495565.99 2020-12-09T06:32:45Z- sync is 0.03, coherence is 2.00 2020-12-09T06:32:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495566.01 epoch sec; seqNo:462; 4061668.75 north; 594574.82 east 2020-12-09T06:32:45Z- waiting for 1607495568.56, time is 1607495565.99 2020-12-09T06:32:45Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:46Z- AHRS_M2 msg: 1607495566.36 epoch sec; seqNo:444 2020-12-09T06:32:46Z- AHRS_M2 msg: 4.66 phi; -0.21 theta; -0.27 psi 2020-12-09T06:32:46Z- waiting for 1607495568.56, time is 1607495565.99 2020-12-09T06:32:46Z- sync is 0.37, coherence is 2.00 2020-12-09T06:32:46Z- handleDepth()-Depth_Keller msg: 16.62 epoch sec; seqNo:1607495566363; depth 0.00 2020-12-09T06:32:46Z- waiting for 1607495568.56, time is 1607495565.99 2020-12-09T06:32:46Z- sync is 0.37, coherence is 2.00 2020-12-09T06:32:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495566.38 epoch sec; seqNo:463; 4061668.35 north; 594573.61 east 2020-12-09T06:32:46Z- waiting for 1607495568.56, time is 1607495565.99 2020-12-09T06:32:46Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:46Z- AHRS_M2 msg: 1607495566.76 epoch sec; seqNo:445 2020-12-09T06:32:46Z- AHRS_M2 msg: 4.66 phi; -0.21 theta; -0.26 psi 2020-12-09T06:32:46Z- waiting for 1607495568.56, time is 1607495565.99 2020-12-09T06:32:46Z- sync is 0.77, coherence is 2.00 2020-12-09T06:32:46Z- handleDepth()-Depth_Keller msg: 16.68 epoch sec; seqNo:1607495566768; depth 0.00 2020-12-09T06:32:46Z- waiting for 1607495568.56, time is 1607495565.99 2020-12-09T06:32:46Z- sync is 0.77, coherence is 2.00 2020-12-09T06:32:46Z- handleDvl() - RDI_Pathfinder msg: 1607495566.78 epoch sec; seqNo:247 2020-12-09T06:32:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.45 , 91.41 , 64.90 , 90.33 2020-12-09T06:32:46Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.20 , -0.43 2020-12-09T06:32:46Z- waiting for 1607495568.56, time is 1607495566.78 2020-12-09T06:32:46Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495566.79 epoch sec; seqNo:464; 4061668.35 north; 594573.61 east 2020-12-09T06:32:46Z- waiting for 1607495568.56, time is 1607495566.78 2020-12-09T06:32:46Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:47Z- AHRS_M2 msg: 1607495567.16 epoch sec; seqNo:446 2020-12-09T06:32:47Z- AHRS_M2 msg: 4.67 phi; -0.20 theta; -0.25 psi 2020-12-09T06:32:47Z- waiting for 1607495568.56, time is 1607495566.78 2020-12-09T06:32:47Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:47Z- handleDepth()-Depth_Keller msg: 16.73 epoch sec; seqNo:1607495567172; depth 0.00 2020-12-09T06:32:47Z- waiting for 1607495568.56, time is 1607495566.78 2020-12-09T06:32:47Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495567.19 epoch sec; seqNo:465; 4061668.35 north; 594573.61 east 2020-12-09T06:32:47Z- waiting for 1607495568.56, time is 1607495566.78 2020-12-09T06:32:47Z- sync is 0.41, coherence is 2.00 2020-12-09T06:32:47Z- AHRS_M2 msg: 1607495567.57 epoch sec; seqNo:447 2020-12-09T06:32:47Z- AHRS_M2 msg: 4.67 phi; -0.20 theta; -0.24 psi 2020-12-09T06:32:47Z- waiting for 1607495568.56, time is 1607495566.78 2020-12-09T06:32:47Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:47Z- handleDepth()-Depth_Keller msg: 16.78 epoch sec; seqNo:1607495567578; depth 0.00 2020-12-09T06:32:47Z- waiting for 1607495568.56, time is 1607495566.78 2020-12-09T06:32:47Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495567.60 epoch sec; seqNo:466; 4061667.96 north; 594572.39 east 2020-12-09T06:32:47Z- waiting for 1607495568.56, time is 1607495566.78 2020-12-09T06:32:47Z- sync is 0.82, coherence is 2.00 2020-12-09T06:32:47Z- AHRS_M2 msg: 1607495567.97 epoch sec; seqNo:448 2020-12-09T06:32:47Z- AHRS_M2 msg: 4.67 phi; -0.20 theta; -0.23 psi 2020-12-09T06:32:47Z- waiting for 1607495568.56, time is 1607495566.78 2020-12-09T06:32:47Z- sync is 1.19, coherence is 2.00 2020-12-09T06:32:47Z- handleDepth()-Depth_Keller msg: 16.84 epoch sec; seqNo:1607495567978; depth 0.00 2020-12-09T06:32:47Z- waiting for 1607495568.56, time is 1607495566.78 2020-12-09T06:32:47Z- sync is 1.19, coherence is 2.00 2020-12-09T06:32:47Z- handleDvl() - RDI_Pathfinder msg: 1607495567.99 epoch sec; seqNo:248 2020-12-09T06:32:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.04 , 90.33 , 64.08 , 87.09 2020-12-09T06:32:47Z- handleDvl() - RDI_Pathfinder msg: velocities 1.26 , -0.09 , -0.40 2020-12-09T06:32:47Z- waiting for 1607495568.56, time is 1607495567.99 2020-12-09T06:32:47Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495568.02 epoch sec; seqNo:467; 4061667.96 north; 594572.39 east 2020-12-09T06:32:48Z- waiting for 1607495568.56, time is 1607495567.99 2020-12-09T06:32:48Z- sync is 0.03, coherence is 2.00 2020-12-09T06:32:48Z- AHRS_M2 msg: 1607495568.38 epoch sec; seqNo:449 2020-12-09T06:32:48Z- AHRS_M2 msg: 4.67 phi; -0.19 theta; -0.22 psi 2020-12-09T06:32:48Z- waiting for 1607495568.56, time is 1607495567.99 2020-12-09T06:32:48Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:48Z- handleDepth()-Depth_Keller msg: 16.89 epoch sec; seqNo:1607495568386; depth 0.00 2020-12-09T06:32:48Z- waiting for 1607495568.56, time is 1607495567.99 2020-12-09T06:32:48Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495568.40 epoch sec; seqNo:468; 4061667.95 north; 594571.17 east 2020-12-09T06:32:48Z- waiting for 1607495568.56, time is 1607495567.99 2020-12-09T06:32:48Z- sync is 0.41, coherence is 2.00 2020-12-09T06:32:48Z- AHRS_M2 msg: 1607495568.78 epoch sec; seqNo:450 2020-12-09T06:32:48Z- AHRS_M2 msg: 4.67 phi; -0.19 theta; -0.22 psi 2020-12-09T06:32:48Z- waiting for 1607495568.56, time is 1607495567.99 2020-12-09T06:32:48Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:48Z- handleDepth()-Depth_Keller msg: 16.95 epoch sec; seqNo:1607495568788; depth 0.00 2020-12-09T06:32:48Z- waiting for 1607495568.56, time is 1607495567.99 2020-12-09T06:32:48Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:48Z- handleDvl() - RDI_Pathfinder msg: 1607495568.80 epoch sec; seqNo:249 2020-12-09T06:32:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.04 , 87.09 , 62.86 , 84.93 2020-12-09T06:32:48Z- handleDvl() - RDI_Pathfinder msg: velocities 1.38 , 0.04 , -0.26 2020-12-09T06:32:48Z- waiting for 1607495568.56, time is 1607495568.80 2020-12-09T06:32:48Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:48Z- LcmTrn::updateTrn() >>>> pose time 1607495568.78, meas time 1607495568.80 <<<< 2020-12-09T06:32:48Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495568.80 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:32:48Z- TerrainNav::motionUpdate() - currEstimate = (4061668, 594571.17, 16.95) 2020-12-09T06:32:48Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:32:48Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:32:48Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:32:48Z- TNavBF::mmse selected from filter -1 2020-12-09T06:32:48Z- variances([0], [2], and psi_berg) = 815.424955 833.145506 0.000000 2020-12-09T06:32:48Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:32:48Z- LcmTrn::cycle() - MLE : 4061633.45 594522.67 16.95 2020-12-09T06:32:48Z- LcmTrn::cycle() - MMSE : 4061667.95 594571.17 16.95 2020-12-09T06:32:48Z- LcmTrn::cycle() - COVAR: 815.42 833.15 33.14 0.00 2020-12-09T06:32:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495568.81 epoch sec; seqNo:469; 4061667.95 north; 594571.17 east 2020-12-09T06:32:48Z- waiting for 1607495571.80, time is 1607495568.80 2020-12-09T06:32:48Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:49Z- AHRS_M2 msg: 1607495569.18 epoch sec; seqNo:451 2020-12-09T06:32:49Z- AHRS_M2 msg: 4.66 phi; -0.19 theta; -0.21 psi 2020-12-09T06:32:49Z- waiting for 1607495571.80, time is 1607495568.80 2020-12-09T06:32:49Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:49Z- handleDepth()-Depth_Keller msg: 17.03 epoch sec; seqNo:1607495569190; depth 0.00 2020-12-09T06:32:49Z- waiting for 1607495571.80, time is 1607495568.80 2020-12-09T06:32:49Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:49Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:49Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:49Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:49Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:32:49Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:32:49Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:32:49Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:32:49Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:32:49Z- handleDvl() - RDI_Pathfinder msg: 1607495569.19 epoch sec; seqNo:250 2020-12-09T06:32:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:32:49Z- handleDvl() - RDI_Pathfinder msg: velocities 1.38 , 0.04 , -0.26 2020-12-09T06:32:49Z- waiting for 1607495571.80, time is 1607495569.19 2020-12-09T06:32:49Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495569.21 epoch sec; seqNo:470; 4061667.94 north; 594569.95 east 2020-12-09T06:32:49Z- waiting for 1607495571.80, time is 1607495569.19 2020-12-09T06:32:49Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:49Z- AHRS_M2 msg: 1607495569.61 epoch sec; seqNo:452 2020-12-09T06:32:49Z- AHRS_M2 msg: 4.66 phi; -0.19 theta; -0.21 psi 2020-12-09T06:32:49Z- waiting for 1607495571.80, time is 1607495569.19 2020-12-09T06:32:49Z- sync is 0.42, coherence is 2.00 2020-12-09T06:32:49Z- handleDepth()-Depth_Keller msg: 17.09 epoch sec; seqNo:1607495569619; depth 0.00 2020-12-09T06:32:49Z- waiting for 1607495571.80, time is 1607495569.19 2020-12-09T06:32:49Z- sync is 0.42, coherence is 2.00 2020-12-09T06:32:49Z- handleDvl() - RDI_Pathfinder msg: 1607495569.63 epoch sec; seqNo:251 2020-12-09T06:32:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.04 , 84.93 , 62.86 , 74.69 2020-12-09T06:32:49Z- handleDvl() - RDI_Pathfinder msg: velocities 1.41 , 0.17 , -0.10 2020-12-09T06:32:49Z- waiting for 1607495571.80, time is 1607495569.63 2020-12-09T06:32:49Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495569.64 epoch sec; seqNo:471; 4061667.94 north; 594569.95 east 2020-12-09T06:32:49Z- waiting for 1607495571.80, time is 1607495569.63 2020-12-09T06:32:49Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:50Z- AHRS_M2 msg: 1607495570.01 epoch sec; seqNo:453 2020-12-09T06:32:50Z- AHRS_M2 msg: 4.65 phi; -0.20 theta; -0.21 psi 2020-12-09T06:32:50Z- waiting for 1607495571.80, time is 1607495569.63 2020-12-09T06:32:50Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:50Z- handleDepth()-Depth_Keller msg: 17.15 epoch sec; seqNo:1607495570031; depth 0.00 2020-12-09T06:32:50Z- waiting for 1607495571.80, time is 1607495569.63 2020-12-09T06:32:50Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495570.04 epoch sec; seqNo:472; 4061667.92 north; 594568.73 east 2020-12-09T06:32:50Z- waiting for 1607495571.80, time is 1607495569.63 2020-12-09T06:32:50Z- sync is 0.41, coherence is 2.00 2020-12-09T06:32:50Z- AHRS_M2 msg: 1607495570.42 epoch sec; seqNo:454 2020-12-09T06:32:50Z- AHRS_M2 msg: 4.65 phi; -0.20 theta; -0.21 psi 2020-12-09T06:32:50Z- waiting for 1607495571.80, time is 1607495569.63 2020-12-09T06:32:50Z- sync is 0.78, coherence is 2.00 2020-12-09T06:32:50Z- handleDepth()-Depth_Keller msg: 17.23 epoch sec; seqNo:1607495570425; depth 0.00 2020-12-09T06:32:50Z- waiting for 1607495571.80, time is 1607495569.63 2020-12-09T06:32:50Z- sync is 0.78, coherence is 2.00 2020-12-09T06:32:50Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:50Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:50Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:50Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:32:50Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:32:50Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:32:50Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:32:50Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:32:50Z- handleDvl() - RDI_Pathfinder msg: 1607495570.43 epoch sec; seqNo:252 2020-12-09T06:32:50Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:32:50Z- handleDvl() - RDI_Pathfinder msg: velocities 1.41 , 0.17 , -0.10 2020-12-09T06:32:50Z- waiting for 1607495571.80, time is 1607495570.43 2020-12-09T06:32:50Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495570.44 epoch sec; seqNo:473; 4061667.92 north; 594568.73 east 2020-12-09T06:32:50Z- waiting for 1607495571.80, time is 1607495570.43 2020-12-09T06:32:50Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:50Z- AHRS_M2 msg: 1607495570.82 epoch sec; seqNo:455 2020-12-09T06:32:50Z- AHRS_M2 msg: 4.64 phi; -0.20 theta; -0.21 psi 2020-12-09T06:32:50Z- waiting for 1607495571.80, time is 1607495570.43 2020-12-09T06:32:50Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:50Z- handleDepth()-Depth_Keller msg: 17.30 epoch sec; seqNo:1607495570826; depth 0.00 2020-12-09T06:32:50Z- waiting for 1607495571.80, time is 1607495570.43 2020-12-09T06:32:50Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:50Z- handleDvl() - RDI_Pathfinder msg: 1607495570.84 epoch sec; seqNo:253 2020-12-09T06:32:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 61.63 , 84.93 , 62.86 , 74.29 2020-12-09T06:32:50Z- handleDvl() - RDI_Pathfinder msg: velocities 1.43 , 0.28 , 0.07 2020-12-09T06:32:50Z- waiting for 1607495571.80, time is 1607495570.84 2020-12-09T06:32:50Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495570.85 epoch sec; seqNo:474; 4061667.92 north; 594568.73 east 2020-12-09T06:32:50Z- waiting for 1607495571.80, time is 1607495570.84 2020-12-09T06:32:50Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:51Z- AHRS_M2 msg: 1607495571.23 epoch sec; seqNo:456 2020-12-09T06:32:51Z- AHRS_M2 msg: 4.64 phi; -0.20 theta; -0.21 psi 2020-12-09T06:32:51Z- waiting for 1607495571.80, time is 1607495570.84 2020-12-09T06:32:51Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:51Z- handleDepth()-Depth_Keller msg: 17.39 epoch sec; seqNo:1607495571238; depth 0.00 2020-12-09T06:32:51Z- waiting for 1607495571.80, time is 1607495570.84 2020-12-09T06:32:51Z- sync is 0.39, coherence is 2.00 2020-12-09T06:32:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495571.26 epoch sec; seqNo:475; 4061667.91 north; 594567.51 east 2020-12-09T06:32:51Z- waiting for 1607495571.80, time is 1607495570.84 2020-12-09T06:32:51Z- sync is 0.42, coherence is 2.00 2020-12-09T06:32:51Z- AHRS_M2 msg: 1607495571.63 epoch sec; seqNo:457 2020-12-09T06:32:51Z- AHRS_M2 msg: 4.63 phi; -0.20 theta; -0.21 psi 2020-12-09T06:32:51Z- waiting for 1607495571.80, time is 1607495570.84 2020-12-09T06:32:51Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:51Z- handleDepth()-Depth_Keller msg: 17.47 epoch sec; seqNo:1607495571638; depth 0.00 2020-12-09T06:32:51Z- waiting for 1607495571.80, time is 1607495570.84 2020-12-09T06:32:51Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:51Z- handleDvl() - RDI_Pathfinder msg: 1607495571.66 epoch sec; seqNo:254 2020-12-09T06:32:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 60.82 , 83.85 , 62.45 , 73.47 2020-12-09T06:32:51Z- handleDvl() - RDI_Pathfinder msg: velocities 1.39 , 0.30 , 0.22 2020-12-09T06:32:51Z- waiting for 1607495571.80, time is 1607495571.66 2020-12-09T06:32:51Z- sync is 0.03, coherence is 2.00 2020-12-09T06:32:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495571.67 epoch sec; seqNo:476; 4061668.29 north; 594567.51 east 2020-12-09T06:32:51Z- waiting for 1607495571.80, time is 1607495571.66 2020-12-09T06:32:51Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:52Z- AHRS_M2 msg: 1607495572.03 epoch sec; seqNo:458 2020-12-09T06:32:52Z- AHRS_M2 msg: 4.63 phi; -0.20 theta; -0.20 psi 2020-12-09T06:32:52Z- waiting for 1607495571.80, time is 1607495571.66 2020-12-09T06:32:52Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:52Z- handleDepth()-Depth_Keller msg: 17.56 epoch sec; seqNo:1607495572046; depth 0.00 2020-12-09T06:32:52Z- waiting for 1607495571.80, time is 1607495571.66 2020-12-09T06:32:52Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495572.07 epoch sec; seqNo:477; 4061668.27 north; 594566.29 east 2020-12-09T06:32:52Z- waiting for 1607495571.80, time is 1607495571.66 2020-12-09T06:32:52Z- sync is 0.41, coherence is 2.00 2020-12-09T06:32:52Z- AHRS_M2 msg: 1607495572.44 epoch sec; seqNo:459 2020-12-09T06:32:52Z- AHRS_M2 msg: 4.62 phi; -0.20 theta; -0.20 psi 2020-12-09T06:32:52Z- waiting for 1607495571.80, time is 1607495571.66 2020-12-09T06:32:52Z- sync is 0.78, coherence is 2.00 2020-12-09T06:32:52Z- handleDepth()-Depth_Keller msg: 17.65 epoch sec; seqNo:1607495572454; depth 0.00 2020-12-09T06:32:52Z- waiting for 1607495571.80, time is 1607495571.66 2020-12-09T06:32:52Z- sync is 0.78, coherence is 2.00 2020-12-09T06:32:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495572.46 epoch sec; seqNo:478; 4061668.27 north; 594566.29 east 2020-12-09T06:32:52Z- waiting for 1607495571.80, time is 1607495571.66 2020-12-09T06:32:52Z- sync is 0.81, coherence is 2.00 2020-12-09T06:32:52Z- AHRS_M2 msg: 1607495572.84 epoch sec; seqNo:460 2020-12-09T06:32:52Z- AHRS_M2 msg: 4.61 phi; -0.21 theta; -0.20 psi 2020-12-09T06:32:52Z- waiting for 1607495571.80, time is 1607495571.66 2020-12-09T06:32:52Z- sync is 1.18, coherence is 2.00 2020-12-09T06:32:52Z- handleDepth()-Depth_Keller msg: 17.72 epoch sec; seqNo:1607495572850; depth 0.00 2020-12-09T06:32:52Z- waiting for 1607495571.80, time is 1607495571.66 2020-12-09T06:32:52Z- sync is 1.18, coherence is 2.00 2020-12-09T06:32:52Z- handleDvl() - RDI_Pathfinder msg: 1607495572.86 epoch sec; seqNo:255 2020-12-09T06:32:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 61.23 , 84.93 , 62.86 , 73.88 2020-12-09T06:32:52Z- handleDvl() - RDI_Pathfinder msg: velocities 1.24 , 0.35 , 0.39 2020-12-09T06:32:52Z- waiting for 1607495571.80, time is 1607495572.86 2020-12-09T06:32:52Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:52Z- LcmTrn::updateTrn() >>>> pose time 1607495572.84, meas time 1607495572.86 <<<< 2020-12-09T06:32:52Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495572.86 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:32:52Z- TerrainNav::motionUpdate() - currEstimate = (4061668, 594566.29, 17.72) 2020-12-09T06:32:52Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:32:52Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:32:52Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:32:52Z- TNavBF::mmse selected from filter -1 2020-12-09T06:32:52Z- variances([0], [2], and psi_berg) = 815.055730 833.144186 0.000000 2020-12-09T06:32:52Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:32:52Z- LcmTrn::cycle() - MLE : 4061633.77 594517.79 17.72 2020-12-09T06:32:52Z- LcmTrn::cycle() - MMSE : 4061668.27 594566.29 17.72 2020-12-09T06:32:52Z- LcmTrn::cycle() - COVAR: 815.06 833.14 33.39 0.00 2020-12-09T06:32:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495572.94 epoch sec; seqNo:479; 4061668.26 north; 594565.07 east 2020-12-09T06:32:53Z- waiting for 1607495575.86, time is 1607495572.86 2020-12-09T06:32:53Z- sync is 0.08, coherence is 2.00 2020-12-09T06:32:53Z- handleDepth()-Depth_Keller msg: 17.85 epoch sec; seqNo:1607495573270; depth 0.00 2020-12-09T06:32:53Z- waiting for 1607495575.86, time is 1607495572.86 2020-12-09T06:32:53Z- sync is 0.08, coherence is 2.00 2020-12-09T06:32:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495573.28 epoch sec; seqNo:480; 4061668.64 north; 594565.06 east 2020-12-09T06:32:53Z- waiting for 1607495575.86, time is 1607495572.86 2020-12-09T06:32:53Z- sync is 0.42, coherence is 2.00 2020-12-09T06:32:53Z- AHRS_M2 msg: 1607495573.65 epoch sec; seqNo:461 2020-12-09T06:32:53Z- AHRS_M2 msg: 4.60 phi; -0.21 theta; -0.20 psi 2020-12-09T06:32:53Z- waiting for 1607495575.86, time is 1607495572.86 2020-12-09T06:32:53Z- sync is 0.78, coherence is 2.00 2020-12-09T06:32:53Z- handleDepth()-Depth_Keller msg: 17.92 epoch sec; seqNo:1607495573658; depth 0.00 2020-12-09T06:32:53Z- waiting for 1607495575.86, time is 1607495572.86 2020-12-09T06:32:53Z- sync is 0.78, coherence is 2.00 2020-12-09T06:32:53Z- handleDvl() - RDI_Pathfinder msg: 1607495573.67 epoch sec; seqNo:256 2020-12-09T06:32:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 61.63 , 86.01 , 62.86 , 74.69 2020-12-09T06:32:53Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.25 , 0.48 2020-12-09T06:32:53Z- waiting for 1607495575.86, time is 1607495573.67 2020-12-09T06:32:53Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495573.70 epoch sec; seqNo:481; 4061668.64 north; 594565.06 east 2020-12-09T06:32:53Z- waiting for 1607495575.86, time is 1607495573.67 2020-12-09T06:32:53Z- sync is 0.03, coherence is 2.00 2020-12-09T06:32:54Z- handleDepth()-Depth_Keller msg: 18.00 epoch sec; seqNo:1607495574070; depth 0.00 2020-12-09T06:32:54Z- waiting for 1607495575.86, time is 1607495573.67 2020-12-09T06:32:54Z- sync is 0.03, coherence is 2.00 2020-12-09T06:32:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495574.09 epoch sec; seqNo:482; 4061668.63 north; 594563.84 east 2020-12-09T06:32:54Z- waiting for 1607495575.86, time is 1607495573.67 2020-12-09T06:32:54Z- sync is 0.42, coherence is 2.00 2020-12-09T06:32:54Z- AHRS_M2 msg: 1607495574.47 epoch sec; seqNo:462 2020-12-09T06:32:54Z- AHRS_M2 msg: 4.60 phi; -0.22 theta; -0.21 psi 2020-12-09T06:32:54Z- waiting for 1607495575.86, time is 1607495573.67 2020-12-09T06:32:54Z- sync is 0.80, coherence is 2.00 2020-12-09T06:32:54Z- handleDepth()-Depth_Keller msg: 18.08 epoch sec; seqNo:1607495574479; depth 0.00 2020-12-09T06:32:54Z- waiting for 1607495575.86, time is 1607495573.67 2020-12-09T06:32:54Z- sync is 0.80, coherence is 2.00 2020-12-09T06:32:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495574.49 epoch sec; seqNo:483; 4061668.63 north; 594563.84 east 2020-12-09T06:32:54Z- waiting for 1607495575.86, time is 1607495573.67 2020-12-09T06:32:54Z- sync is 0.82, coherence is 2.00 2020-12-09T06:32:54Z- AHRS_M2 msg: 1607495574.86 epoch sec; seqNo:463 2020-12-09T06:32:54Z- AHRS_M2 msg: 4.60 phi; -0.22 theta; -0.22 psi 2020-12-09T06:32:54Z- waiting for 1607495575.86, time is 1607495573.67 2020-12-09T06:32:54Z- sync is 1.19, coherence is 2.00 2020-12-09T06:32:54Z- handleDepth()-Depth_Keller msg: 18.18 epoch sec; seqNo:1607495574867; depth 0.00 2020-12-09T06:32:54Z- waiting for 1607495575.86, time is 1607495573.67 2020-12-09T06:32:54Z- sync is 1.19, coherence is 2.00 2020-12-09T06:32:54Z- handleDvl() - RDI_Pathfinder msg: 1607495574.89 epoch sec; seqNo:257 2020-12-09T06:32:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 61.63 , 87.09 , 63.67 , 79.53 2020-12-09T06:32:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , 0.14 , 0.46 2020-12-09T06:32:54Z- waiting for 1607495575.86, time is 1607495574.89 2020-12-09T06:32:54Z- sync is 0.03, coherence is 2.00 2020-12-09T06:32:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495574.90 epoch sec; seqNo:484; 4061669.00 north; 594563.84 east 2020-12-09T06:32:54Z- waiting for 1607495575.86, time is 1607495574.89 2020-12-09T06:32:54Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:55Z- AHRS_M2 msg: 1607495575.27 epoch sec; seqNo:464 2020-12-09T06:32:55Z- AHRS_M2 msg: 4.60 phi; -0.23 theta; -0.22 psi 2020-12-09T06:32:55Z- waiting for 1607495575.86, time is 1607495574.89 2020-12-09T06:32:55Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:55Z- handleDepth()-Depth_Keller msg: 18.26 epoch sec; seqNo:1607495575276; depth 0.00 2020-12-09T06:32:55Z- waiting for 1607495575.86, time is 1607495574.89 2020-12-09T06:32:55Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495575.29 epoch sec; seqNo:485; 4061668.99 north; 594562.62 east 2020-12-09T06:32:55Z- waiting for 1607495575.86, time is 1607495574.89 2020-12-09T06:32:55Z- sync is 0.40, coherence is 2.00 2020-12-09T06:32:55Z- AHRS_M2 msg: 1607495575.67 epoch sec; seqNo:465 2020-12-09T06:32:55Z- AHRS_M2 msg: 4.60 phi; -0.23 theta; -0.23 psi 2020-12-09T06:32:55Z- waiting for 1607495575.86, time is 1607495574.89 2020-12-09T06:32:55Z- sync is 0.78, coherence is 2.00 2020-12-09T06:32:55Z- handleDepth()-Depth_Keller msg: 18.35 epoch sec; seqNo:1607495575682; depth 0.00 2020-12-09T06:32:55Z- waiting for 1607495575.86, time is 1607495574.89 2020-12-09T06:32:55Z- sync is 0.78, coherence is 2.00 2020-12-09T06:32:55Z- handleDvl() - RDI_Pathfinder msg: 1607495575.69 epoch sec; seqNo:258 2020-12-09T06:32:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.45 , 88.17 , 64.08 , 77.55 2020-12-09T06:32:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.68 , 0.02 , 0.34 2020-12-09T06:32:55Z- waiting for 1607495575.86, time is 1607495575.69 2020-12-09T06:32:55Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495575.71 epoch sec; seqNo:486; 4061668.99 north; 594562.62 east 2020-12-09T06:32:55Z- waiting for 1607495575.86, time is 1607495575.69 2020-12-09T06:32:55Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:56Z- AHRS_M2 msg: 1607495576.07 epoch sec; seqNo:466 2020-12-09T06:32:56Z- AHRS_M2 msg: 4.60 phi; -0.23 theta; -0.23 psi 2020-12-09T06:32:56Z- waiting for 1607495575.86, time is 1607495575.69 2020-12-09T06:32:56Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:56Z- handleDepth()-Depth_Keller msg: 18.43 epoch sec; seqNo:1607495576078; depth 0.00 2020-12-09T06:32:56Z- waiting for 1607495575.86, time is 1607495575.69 2020-12-09T06:32:56Z- sync is 0.38, coherence is 2.00 2020-12-09T06:32:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495576.10 epoch sec; seqNo:487; 4061668.99 north; 594562.62 east 2020-12-09T06:32:56Z- waiting for 1607495575.86, time is 1607495575.69 2020-12-09T06:32:56Z- sync is 0.40, coherence is 2.00 2020-12-09T06:32:56Z- AHRS_M2 msg: 1607495576.48 epoch sec; seqNo:467 2020-12-09T06:32:56Z- AHRS_M2 msg: 4.61 phi; -0.24 theta; -0.23 psi 2020-12-09T06:32:56Z- waiting for 1607495575.86, time is 1607495575.69 2020-12-09T06:32:56Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:56Z- handleDepth()-Depth_Keller msg: 18.49 epoch sec; seqNo:1607495576572; depth 0.00 2020-12-09T06:32:56Z- waiting for 1607495575.86, time is 1607495575.69 2020-12-09T06:32:56Z- sync is 0.79, coherence is 2.00 2020-12-09T06:32:56Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:56Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:56Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:32:56Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:32:56Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:32:56Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:32:56Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:32:56Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:32:56Z- handleDvl() - RDI_Pathfinder msg: 1607495576.58 epoch sec; seqNo:259 2020-12-09T06:32:56Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:32:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.68 , 0.02 , 0.34 2020-12-09T06:32:56Z- waiting for 1607495575.86, time is 1607495576.58 2020-12-09T06:32:56Z- sync is 0.10, coherence is 2.00 2020-12-09T06:32:56Z- LcmTrn::updateTrn() >>>> pose time 1607495576.48, meas time 1607495576.58 <<<< 2020-12-09T06:32:56Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495576.58, ping # 0. 2020-12-09T06:32:56Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495576.58 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:32:56Z- TerrainNav::motionUpdate() - currEstimate = (4061669, 594562.62, 18.49) 2020-12-09T06:32:56Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:32:56Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:32:56Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:32:56Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:32:56Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:32:56Z- TNavBF::mmse selected from filter -1 2020-12-09T06:32:56Z- variances([0], [2], and psi_berg) = 814.736472 833.143061 0.000000 2020-12-09T06:32:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:32:56Z- LcmTrn::cycle() - MLE : 4061634.49 594514.12 18.49 2020-12-09T06:32:56Z- LcmTrn::cycle() - MMSE : 4061668.99 594562.62 18.49 2020-12-09T06:32:56Z- LcmTrn::cycle() - COVAR: 814.74 833.14 33.58 0.00 2020-12-09T06:32:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495576.60 epoch sec; seqNo:488; 4061668.99 north; 594562.62 east 2020-12-09T06:32:56Z- waiting for 1607495579.58, time is 1607495576.58 2020-12-09T06:32:56Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:56Z- AHRS_M2 msg: 1607495576.88 epoch sec; seqNo:468 2020-12-09T06:32:56Z- AHRS_M2 msg: 4.61 phi; -0.24 theta; -0.24 psi 2020-12-09T06:32:56Z- waiting for 1607495579.58, time is 1607495576.58 2020-12-09T06:32:56Z- sync is 0.30, coherence is 2.00 2020-12-09T06:32:56Z- handleDepth()-Depth_Keller msg: 18.59 epoch sec; seqNo:1607495576994; depth 0.00 2020-12-09T06:32:56Z- waiting for 1607495579.58, time is 1607495576.58 2020-12-09T06:32:56Z- sync is 0.30, coherence is 2.00 2020-12-09T06:32:56Z- handleDvl() - RDI_Pathfinder msg: 1607495577.01 epoch sec; seqNo:260 2020-12-09T06:32:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.45 , 90.33 , 63.27 , 0.00 2020-12-09T06:32:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.59 , -0.10 , 0.15 2020-12-09T06:32:56Z- waiting for 1607495579.58, time is 1607495577.01 2020-12-09T06:32:56Z- sync is 0.12, coherence is 2.00 2020-12-09T06:32:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495577.02 epoch sec; seqNo:489; 4061668.99 north; 594562.62 east 2020-12-09T06:32:57Z- waiting for 1607495579.58, time is 1607495577.01 2020-12-09T06:32:57Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:57Z- AHRS_M2 msg: 1607495577.28 epoch sec; seqNo:469 2020-12-09T06:32:57Z- AHRS_M2 msg: 4.62 phi; -0.24 theta; -0.24 psi 2020-12-09T06:32:57Z- waiting for 1607495579.58, time is 1607495577.01 2020-12-09T06:32:57Z- sync is 0.28, coherence is 2.00 2020-12-09T06:32:57Z- handleDepth()-Depth_Keller msg: 18.68 epoch sec; seqNo:1607495577312; depth 0.00 2020-12-09T06:32:57Z- waiting for 1607495579.58, time is 1607495577.01 2020-12-09T06:32:57Z- sync is 0.28, coherence is 2.00 2020-12-09T06:32:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495577.33 epoch sec; seqNo:490; 4061668.99 north; 594562.62 east 2020-12-09T06:32:57Z- waiting for 1607495579.58, time is 1607495577.01 2020-12-09T06:32:57Z- sync is 0.32, coherence is 2.00 2020-12-09T06:32:57Z- AHRS_M2 msg: 1607495577.69 epoch sec; seqNo:470 2020-12-09T06:32:57Z- AHRS_M2 msg: 4.63 phi; -0.24 theta; -0.23 psi 2020-12-09T06:32:57Z- waiting for 1607495579.58, time is 1607495577.01 2020-12-09T06:32:57Z- sync is 0.68, coherence is 2.00 2020-12-09T06:32:57Z- handleDepth()-Depth_Keller msg: 18.73 epoch sec; seqNo:1607495577728; depth 0.00 2020-12-09T06:32:57Z- waiting for 1607495579.58, time is 1607495577.01 2020-12-09T06:32:57Z- sync is 0.68, coherence is 2.00 2020-12-09T06:32:57Z- handleDvl() - RDI_Pathfinder msg: 1607495577.74 epoch sec; seqNo:261 2020-12-09T06:32:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.86 , 89.25 , 62.86 , 83.85 2020-12-09T06:32:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.66 , -0.19 , -0.05 2020-12-09T06:32:57Z- waiting for 1607495579.58, time is 1607495577.74 2020-12-09T06:32:57Z- sync is 0.05, coherence is 2.00 2020-12-09T06:32:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495577.75 epoch sec; seqNo:491; 4061668.60 north; 594561.40 east 2020-12-09T06:32:57Z- waiting for 1607495579.58, time is 1607495577.74 2020-12-09T06:32:57Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:58Z- AHRS_M2 msg: 1607495578.10 epoch sec; seqNo:471 2020-12-09T06:32:58Z- AHRS_M2 msg: 4.64 phi; -0.24 theta; -0.23 psi 2020-12-09T06:32:58Z- waiting for 1607495579.58, time is 1607495577.74 2020-12-09T06:32:58Z- sync is 0.35, coherence is 2.00 2020-12-09T06:32:58Z- handleDepth()-Depth_Keller msg: 18.80 epoch sec; seqNo:1607495578123; depth 0.00 2020-12-09T06:32:58Z- waiting for 1607495579.58, time is 1607495577.74 2020-12-09T06:32:58Z- sync is 0.35, coherence is 2.00 2020-12-09T06:32:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495578.14 epoch sec; seqNo:492; 4061668.60 north; 594561.40 east 2020-12-09T06:32:58Z- waiting for 1607495579.58, time is 1607495577.74 2020-12-09T06:32:58Z- sync is 0.40, coherence is 2.00 2020-12-09T06:32:58Z- AHRS_M2 msg: 1607495578.50 epoch sec; seqNo:472 2020-12-09T06:32:58Z- AHRS_M2 msg: 4.65 phi; -0.24 theta; -0.23 psi 2020-12-09T06:32:58Z- waiting for 1607495579.58, time is 1607495577.74 2020-12-09T06:32:58Z- sync is 0.76, coherence is 2.00 2020-12-09T06:32:58Z- handleDepth()-Depth_Keller msg: 18.87 epoch sec; seqNo:1607495578506; depth 0.00 2020-12-09T06:32:58Z- waiting for 1607495579.58, time is 1607495577.74 2020-12-09T06:32:58Z- sync is 0.76, coherence is 2.00 2020-12-09T06:32:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495578.52 epoch sec; seqNo:493; 4061668.60 north; 594561.40 east 2020-12-09T06:32:58Z- waiting for 1607495579.58, time is 1607495577.74 2020-12-09T06:32:58Z- sync is 0.78, coherence is 2.00 2020-12-09T06:32:58Z- AHRS_M2 msg: 1607495578.90 epoch sec; seqNo:473 2020-12-09T06:32:58Z- AHRS_M2 msg: 4.66 phi; -0.24 theta; -0.23 psi 2020-12-09T06:32:58Z- waiting for 1607495579.58, time is 1607495577.74 2020-12-09T06:32:58Z- sync is 1.16, coherence is 2.00 2020-12-09T06:32:58Z- handleDepth()-Depth_Keller msg: 18.93 epoch sec; seqNo:1607495578925; depth 0.00 2020-12-09T06:32:58Z- waiting for 1607495579.58, time is 1607495577.74 2020-12-09T06:32:58Z- sync is 1.16, coherence is 2.00 2020-12-09T06:32:58Z- handleDvl() - RDI_Pathfinder msg: 1607495578.94 epoch sec; seqNo:262 2020-12-09T06:32:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.45 , 89.25 , 62.86 , 83.85 2020-12-09T06:32:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.21 , -0.20 2020-12-09T06:32:58Z- waiting for 1607495579.58, time is 1607495578.94 2020-12-09T06:32:58Z- sync is 0.04, coherence is 2.00 2020-12-09T06:32:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495578.95 epoch sec; seqNo:494; 4061668.60 north; 594561.40 east 2020-12-09T06:32:58Z- waiting for 1607495579.58, time is 1607495578.94 2020-12-09T06:32:58Z- sync is 0.01, coherence is 2.00 2020-12-09T06:32:59Z- AHRS_M2 msg: 1607495579.31 epoch sec; seqNo:474 2020-12-09T06:32:59Z- AHRS_M2 msg: 4.67 phi; -0.24 theta; -0.22 psi 2020-12-09T06:32:59Z- waiting for 1607495579.58, time is 1607495578.94 2020-12-09T06:32:59Z- sync is 0.37, coherence is 2.00 2020-12-09T06:32:59Z- handleDepth()-Depth_Keller msg: 19.01 epoch sec; seqNo:1607495579315; depth 0.00 2020-12-09T06:32:59Z- waiting for 1607495579.58, time is 1607495578.94 2020-12-09T06:32:59Z- sync is 0.37, coherence is 2.00 2020-12-09T06:32:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495579.34 epoch sec; seqNo:495; 4061668.21 north; 594560.18 east 2020-12-09T06:32:59Z- waiting for 1607495579.58, time is 1607495578.94 2020-12-09T06:32:59Z- sync is 0.40, coherence is 2.00 2020-12-09T06:32:59Z- AHRS_M2 msg: 1607495579.71 epoch sec; seqNo:475 2020-12-09T06:32:59Z- AHRS_M2 msg: 4.68 phi; -0.23 theta; -0.21 psi 2020-12-09T06:32:59Z- waiting for 1607495579.58, time is 1607495578.94 2020-12-09T06:32:59Z- sync is 0.78, coherence is 2.00 2020-12-09T06:32:59Z- handleDepth()-Depth_Keller msg: 19.07 epoch sec; seqNo:1607495579719; depth 0.00 2020-12-09T06:32:59Z- waiting for 1607495579.58, time is 1607495578.94 2020-12-09T06:32:59Z- sync is 0.78, coherence is 2.00 2020-12-09T06:32:59Z- handleDvl() - RDI_Pathfinder msg: 1607495579.73 epoch sec; seqNo:263 2020-12-09T06:32:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 62.45 , 86.01 , 62.45 , 81.69 2020-12-09T06:32:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.17 , -0.31 2020-12-09T06:32:59Z- waiting for 1607495579.58, time is 1607495579.73 2020-12-09T06:32:59Z- sync is 0.02, coherence is 2.00 2020-12-09T06:32:59Z- LcmTrn::updateTrn() >>>> pose time 1607495579.71, meas time 1607495579.73 <<<< 2020-12-09T06:32:59Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495579.73 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:32:59Z- TerrainNav::motionUpdate() - currEstimate = (4061668, 594560.18, 19.07) 2020-12-09T06:32:59Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:32:59Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:32:59Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:32:59Z- TNavBF::mmse selected from filter -1 2020-12-09T06:32:59Z- variances([0], [2], and psi_berg) = 814.474902 833.142152 0.000000 2020-12-09T06:32:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:32:59Z- LcmTrn::cycle() - MLE : 4061633.71 594511.68 19.07 2020-12-09T06:32:59Z- LcmTrn::cycle() - MMSE : 4061668.21 594560.18 19.07 2020-12-09T06:32:59Z- LcmTrn::cycle() - COVAR: 814.47 833.14 33.71 0.00 2020-12-09T06:32:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495579.76 epoch sec; seqNo:496; 4061668.21 north; 594560.18 east 2020-12-09T06:32:59Z- waiting for 1607495582.73, time is 1607495579.73 2020-12-09T06:32:59Z- sync is 0.03, coherence is 2.00 2020-12-09T06:33:00Z- AHRS_M2 msg: 1607495580.12 epoch sec; seqNo:476 2020-12-09T06:33:00Z- AHRS_M2 msg: 4.69 phi; -0.23 theta; -0.21 psi 2020-12-09T06:33:00Z- waiting for 1607495582.73, time is 1607495579.73 2020-12-09T06:33:00Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:00Z- handleDepth()-Depth_Keller msg: 19.15 epoch sec; seqNo:1607495580130; depth 0.00 2020-12-09T06:33:00Z- waiting for 1607495582.73, time is 1607495579.73 2020-12-09T06:33:00Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:00Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:00Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:00Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:00Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:33:00Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:33:00Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:33:00Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:33:00Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:33:00Z- handleDvl() - RDI_Pathfinder msg: 1607495580.13 epoch sec; seqNo:264 2020-12-09T06:33:00Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:33:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.17 , -0.31 2020-12-09T06:33:00Z- waiting for 1607495582.73, time is 1607495580.13 2020-12-09T06:33:00Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495580.14 epoch sec; seqNo:497; 4061668.21 north; 594560.18 east 2020-12-09T06:33:00Z- waiting for 1607495582.73, time is 1607495580.13 2020-12-09T06:33:00Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:00Z- AHRS_M2 msg: 1607495580.52 epoch sec; seqNo:477 2020-12-09T06:33:00Z- AHRS_M2 msg: 4.70 phi; -0.23 theta; -0.20 psi 2020-12-09T06:33:00Z- waiting for 1607495582.73, time is 1607495580.13 2020-12-09T06:33:00Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:00Z- handleDepth()-Depth_Keller msg: 19.20 epoch sec; seqNo:1607495580533; depth 0.00 2020-12-09T06:33:00Z- waiting for 1607495582.73, time is 1607495580.13 2020-12-09T06:33:00Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495580.55 epoch sec; seqNo:498; 4061667.83 north; 594560.19 east 2020-12-09T06:33:00Z- waiting for 1607495582.73, time is 1607495580.13 2020-12-09T06:33:00Z- sync is 0.42, coherence is 2.00 2020-12-09T06:33:00Z- AHRS_M2 msg: 1607495580.92 epoch sec; seqNo:478 2020-12-09T06:33:00Z- AHRS_M2 msg: 4.70 phi; -0.23 theta; -0.20 psi 2020-12-09T06:33:00Z- waiting for 1607495582.73, time is 1607495580.13 2020-12-09T06:33:00Z- sync is 0.79, coherence is 2.00 2020-12-09T06:33:00Z- handleDepth()-Depth_Keller msg: 19.28 epoch sec; seqNo:1607495580926; depth 0.00 2020-12-09T06:33:00Z- waiting for 1607495582.73, time is 1607495580.13 2020-12-09T06:33:00Z- sync is 0.79, coherence is 2.00 2020-12-09T06:33:00Z- handleDvl() - RDI_Pathfinder msg: 1607495580.95 epoch sec; seqNo:265 2020-12-09T06:33:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 61.63 , 86.01 , 61.23 , 76.74 2020-12-09T06:33:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.10 , -0.35 2020-12-09T06:33:00Z- waiting for 1607495582.73, time is 1607495580.95 2020-12-09T06:33:00Z- sync is 0.03, coherence is 2.00 2020-12-09T06:33:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495580.96 epoch sec; seqNo:499; 4061667.81 north; 594558.97 east 2020-12-09T06:33:00Z- waiting for 1607495582.73, time is 1607495580.95 2020-12-09T06:33:00Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:01Z- AHRS_M2 msg: 1607495581.33 epoch sec; seqNo:479 2020-12-09T06:33:01Z- AHRS_M2 msg: 4.70 phi; -0.22 theta; -0.20 psi 2020-12-09T06:33:01Z- waiting for 1607495582.73, time is 1607495580.95 2020-12-09T06:33:01Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:01Z- handleDepth()-Depth_Keller msg: 19.35 epoch sec; seqNo:1607495581330; depth 0.00 2020-12-09T06:33:01Z- waiting for 1607495582.73, time is 1607495580.95 2020-12-09T06:33:01Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:01Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:01Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:01Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:01Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:33:01Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:33:01Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:33:01Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:33:01Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:33:01Z- handleDvl() - RDI_Pathfinder msg: 1607495581.33 epoch sec; seqNo:266 2020-12-09T06:33:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:33:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.10 , -0.35 2020-12-09T06:33:01Z- waiting for 1607495582.73, time is 1607495581.33 2020-12-09T06:33:01Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495581.35 epoch sec; seqNo:500; 4061667.81 north; 594558.97 east 2020-12-09T06:33:01Z- waiting for 1607495582.73, time is 1607495581.33 2020-12-09T06:33:01Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:01Z- AHRS_M2 msg: 1607495581.73 epoch sec; seqNo:480 2020-12-09T06:33:01Z- AHRS_M2 msg: 4.70 phi; -0.22 theta; -0.20 psi 2020-12-09T06:33:01Z- waiting for 1607495582.73, time is 1607495581.33 2020-12-09T06:33:01Z- sync is 0.40, coherence is 2.00 2020-12-09T06:33:01Z- handleDepth()-Depth_Keller msg: 19.41 epoch sec; seqNo:1607495581742; depth 0.00 2020-12-09T06:33:01Z- waiting for 1607495582.73, time is 1607495581.33 2020-12-09T06:33:01Z- sync is 0.40, coherence is 2.00 2020-12-09T06:33:01Z- handleDvl() - RDI_Pathfinder msg: 1607495581.75 epoch sec; seqNo:267 2020-12-09T06:33:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 61.63 , 82.77 , 60.41 , 76.33 2020-12-09T06:33:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.19 , -0.02 , -0.31 2020-12-09T06:33:01Z- waiting for 1607495582.73, time is 1607495581.75 2020-12-09T06:33:01Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495581.78 epoch sec; seqNo:501; 4061667.80 north; 594557.75 east 2020-12-09T06:33:01Z- waiting for 1607495582.73, time is 1607495581.75 2020-12-09T06:33:01Z- sync is 0.03, coherence is 2.00 2020-12-09T06:33:02Z- AHRS_M2 msg: 1607495582.13 epoch sec; seqNo:481 2020-12-09T06:33:02Z- AHRS_M2 msg: 4.70 phi; -0.22 theta; -0.20 psi 2020-12-09T06:33:02Z- waiting for 1607495582.73, time is 1607495581.75 2020-12-09T06:33:02Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:02Z- handleDepth()-Depth_Keller msg: 19.48 epoch sec; seqNo:1607495582140; depth 0.00 2020-12-09T06:33:02Z- waiting for 1607495582.73, time is 1607495581.75 2020-12-09T06:33:02Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495582.16 epoch sec; seqNo:502; 4061667.80 north; 594557.75 east 2020-12-09T06:33:02Z- waiting for 1607495582.73, time is 1607495581.75 2020-12-09T06:33:02Z- sync is 0.41, coherence is 2.00 2020-12-09T06:33:02Z- AHRS_M2 msg: 1607495582.60 epoch sec; seqNo:482 2020-12-09T06:33:02Z- AHRS_M2 msg: 4.70 phi; -0.22 theta; -0.20 psi 2020-12-09T06:33:02Z- waiting for 1607495582.73, time is 1607495581.75 2020-12-09T06:33:02Z- sync is 0.84, coherence is 2.00 2020-12-09T06:33:02Z- handleDepth()-Depth_Keller msg: 19.54 epoch sec; seqNo:1607495582607; depth 0.00 2020-12-09T06:33:02Z- waiting for 1607495582.73, time is 1607495581.75 2020-12-09T06:33:02Z- sync is 0.84, coherence is 2.00 2020-12-09T06:33:02Z- handleDvl() - RDI_Pathfinder msg: 1607495582.62 epoch sec; seqNo:268 2020-12-09T06:33:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 60.82 , 78.37 , 60.00 , 75.92 2020-12-09T06:33:02Z- handleDvl() - RDI_Pathfinder msg: velocities 1.29 , 0.04 , -0.19 2020-12-09T06:33:02Z- waiting for 1607495582.73, time is 1607495582.62 2020-12-09T06:33:02Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495582.63 epoch sec; seqNo:503; 4061667.79 north; 594556.53 east 2020-12-09T06:33:02Z- waiting for 1607495582.73, time is 1607495582.62 2020-12-09T06:33:02Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:02Z- AHRS_M2 msg: 1607495582.94 epoch sec; seqNo:483 2020-12-09T06:33:02Z- AHRS_M2 msg: 4.69 phi; -0.22 theta; -0.21 psi 2020-12-09T06:33:02Z- waiting for 1607495582.73, time is 1607495582.62 2020-12-09T06:33:02Z- sync is 0.32, coherence is 2.00 2020-12-09T06:33:02Z- handleDepth()-Depth_Keller msg: 19.62 epoch sec; seqNo:1607495582946; depth 0.00 2020-12-09T06:33:02Z- waiting for 1607495582.73, time is 1607495582.62 2020-12-09T06:33:02Z- sync is 0.32, coherence is 2.00 2020-12-09T06:33:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495582.96 epoch sec; seqNo:504; 4061667.79 north; 594556.53 east 2020-12-09T06:33:02Z- waiting for 1607495582.73, time is 1607495582.62 2020-12-09T06:33:02Z- sync is 0.34, coherence is 2.00 2020-12-09T06:33:03Z- AHRS_M2 msg: 1607495583.35 epoch sec; seqNo:484 2020-12-09T06:33:03Z- AHRS_M2 msg: 4.69 phi; -0.22 theta; -0.21 psi 2020-12-09T06:33:03Z- waiting for 1607495582.73, time is 1607495582.62 2020-12-09T06:33:03Z- sync is 0.73, coherence is 2.00 2020-12-09T06:33:03Z- handleDepth()-Depth_Keller msg: 19.68 epoch sec; seqNo:1607495583358; depth 0.00 2020-12-09T06:33:03Z- waiting for 1607495582.73, time is 1607495582.62 2020-12-09T06:33:03Z- sync is 0.73, coherence is 2.00 2020-12-09T06:33:03Z- handleDvl() - RDI_Pathfinder msg: 1607495583.37 epoch sec; seqNo:269 2020-12-09T06:33:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 60.78 , 78.23 , 59.81 , 75.32 2020-12-09T06:33:03Z- handleDvl() - RDI_Pathfinder msg: velocities 1.31 , 0.09 , -0.01 2020-12-09T06:33:03Z- waiting for 1607495582.73, time is 1607495583.37 2020-12-09T06:33:03Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:03Z- LcmTrn::updateTrn() >>>> pose time 1607495583.35, meas time 1607495583.37 <<<< 2020-12-09T06:33:03Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495583.37 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:33:03Z- TerrainNav::motionUpdate() - currEstimate = (4061668, 594556.53, 19.68) 2020-12-09T06:33:03Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:33:03Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:33:03Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:33:03Z- TNavBF::mmse selected from filter -1 2020-12-09T06:33:03Z- variances([0], [2], and psi_berg) = 814.163289 833.141081 0.000000 2020-12-09T06:33:03Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:33:03Z- LcmTrn::cycle() - MLE : 4061633.29 594508.03 19.68 2020-12-09T06:33:03Z- LcmTrn::cycle() - MMSE : 4061667.79 594556.53 19.68 2020-12-09T06:33:03Z- LcmTrn::cycle() - COVAR: 814.16 833.14 33.90 0.00 2020-12-09T06:33:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495583.39 epoch sec; seqNo:505; 4061667.79 north; 594556.53 east 2020-12-09T06:33:03Z- waiting for 1607495586.37, time is 1607495583.37 2020-12-09T06:33:03Z- sync is 0.03, coherence is 2.00 2020-12-09T06:33:03Z- AHRS_M2 msg: 1607495583.75 epoch sec; seqNo:485 2020-12-09T06:33:03Z- AHRS_M2 msg: 4.68 phi; -0.22 theta; -0.21 psi 2020-12-09T06:33:03Z- waiting for 1607495586.37, time is 1607495583.37 2020-12-09T06:33:03Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:03Z- handleDepth()-Depth_Keller msg: 19.75 epoch sec; seqNo:1607495583762; depth 0.00 2020-12-09T06:33:03Z- waiting for 1607495586.37, time is 1607495583.37 2020-12-09T06:33:03Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495583.77 epoch sec; seqNo:506; 4061667.77 north; 594555.31 east 2020-12-09T06:33:03Z- waiting for 1607495586.37, time is 1607495583.37 2020-12-09T06:33:03Z- sync is 0.40, coherence is 2.00 2020-12-09T06:33:04Z- AHRS_M2 msg: 1607495584.15 epoch sec; seqNo:486 2020-12-09T06:33:04Z- AHRS_M2 msg: 4.67 phi; -0.22 theta; -0.21 psi 2020-12-09T06:33:04Z- waiting for 1607495586.37, time is 1607495583.37 2020-12-09T06:33:04Z- sync is 0.78, coherence is 2.00 2020-12-09T06:33:04Z- handleDepth()-Depth_Keller msg: 19.84 epoch sec; seqNo:1607495584169; depth 0.00 2020-12-09T06:33:04Z- waiting for 1607495586.37, time is 1607495583.37 2020-12-09T06:33:04Z- sync is 0.78, coherence is 2.00 2020-12-09T06:33:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495584.18 epoch sec; seqNo:507; 4061667.77 north; 594555.31 east 2020-12-09T06:33:04Z- waiting for 1607495586.37, time is 1607495583.37 2020-12-09T06:33:04Z- sync is 0.82, coherence is 2.00 2020-12-09T06:33:04Z- AHRS_M2 msg: 1607495584.56 epoch sec; seqNo:487 2020-12-09T06:33:04Z- AHRS_M2 msg: 4.66 phi; -0.22 theta; -0.21 psi 2020-12-09T06:33:04Z- waiting for 1607495586.37, time is 1607495583.37 2020-12-09T06:33:04Z- sync is 1.19, coherence is 2.00 2020-12-09T06:33:04Z- handleDepth()-Depth_Keller msg: 19.91 epoch sec; seqNo:1607495584570; depth 0.00 2020-12-09T06:33:04Z- waiting for 1607495586.37, time is 1607495583.37 2020-12-09T06:33:04Z- sync is 1.19, coherence is 2.00 2020-12-09T06:33:04Z- handleDvl() - RDI_Pathfinder msg: 1607495584.58 epoch sec; seqNo:270 2020-12-09T06:33:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 60.13 , 78.23 , 60.45 , 0.00 2020-12-09T06:33:04Z- handleDvl() - RDI_Pathfinder msg: velocities 1.26 , 0.13 , 0.16 2020-12-09T06:33:04Z- waiting for 1607495586.37, time is 1607495584.58 2020-12-09T06:33:04Z- sync is 0.03, coherence is 2.00 2020-12-09T06:33:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495584.61 epoch sec; seqNo:508; 4061667.76 north; 594554.09 east 2020-12-09T06:33:04Z- waiting for 1607495586.37, time is 1607495584.58 2020-12-09T06:33:04Z- sync is 0.03, coherence is 2.00 2020-12-09T06:33:04Z- AHRS_M2 msg: 1607495584.96 epoch sec; seqNo:488 2020-12-09T06:33:04Z- AHRS_M2 msg: 4.65 phi; -0.22 theta; -0.21 psi 2020-12-09T06:33:04Z- waiting for 1607495586.37, time is 1607495584.58 2020-12-09T06:33:04Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:04Z- handleDepth()-Depth_Keller msg: 20.00 epoch sec; seqNo:1607495584968; depth 0.00 2020-12-09T06:33:04Z- waiting for 1607495586.37, time is 1607495584.58 2020-12-09T06:33:04Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:04Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:04Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:04Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:04Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:33:04Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:33:04Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:33:04Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:33:04Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:33:04Z- handleDvl() - RDI_Pathfinder msg: 1607495584.99 epoch sec; seqNo:271 2020-12-09T06:33:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:33:04Z- handleDvl() - RDI_Pathfinder msg: velocities 1.26 , 0.13 , 0.16 2020-12-09T06:33:04Z- waiting for 1607495586.37, time is 1607495584.99 2020-12-09T06:33:04Z- sync is 0.03, coherence is 2.00 2020-12-09T06:33:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495585.02 epoch sec; seqNo:509; 4061667.76 north; 594554.09 east 2020-12-09T06:33:05Z- waiting for 1607495586.37, time is 1607495584.99 2020-12-09T06:33:05Z- sync is 0.03, coherence is 2.00 2020-12-09T06:33:05Z- AHRS_M2 msg: 1607495585.37 epoch sec; seqNo:489 2020-12-09T06:33:05Z- AHRS_M2 msg: 4.65 phi; -0.23 theta; -0.22 psi 2020-12-09T06:33:05Z- waiting for 1607495586.37, time is 1607495584.99 2020-12-09T06:33:05Z- sync is 0.37, coherence is 2.00 2020-12-09T06:33:05Z- handleDepth()-Depth_Keller msg: 20.08 epoch sec; seqNo:1607495585371; depth 0.00 2020-12-09T06:33:05Z- waiting for 1607495586.37, time is 1607495584.99 2020-12-09T06:33:05Z- sync is 0.37, coherence is 2.00 2020-12-09T06:33:05Z- handleDvl() - RDI_Pathfinder msg: 1607495585.39 epoch sec; seqNo:272 2020-12-09T06:33:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 60.03 , 0.00 , 60.64 , 75.65 2020-12-09T06:33:05Z- handleDvl() - RDI_Pathfinder msg: velocities 1.14 , 0.17 , 0.26 2020-12-09T06:33:05Z- waiting for 1607495586.37, time is 1607495585.39 2020-12-09T06:33:05Z- sync is 0.03, coherence is 2.00 2020-12-09T06:33:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495585.40 epoch sec; seqNo:510; 4061667.76 north; 594554.09 east 2020-12-09T06:33:05Z- waiting for 1607495586.37, time is 1607495585.39 2020-12-09T06:33:05Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:05Z- AHRS_M2 msg: 1607495585.77 epoch sec; seqNo:490 2020-12-09T06:33:05Z- AHRS_M2 msg: 4.64 phi; -0.23 theta; -0.22 psi 2020-12-09T06:33:05Z- waiting for 1607495586.37, time is 1607495585.39 2020-12-09T06:33:05Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:05Z- handleDepth()-Depth_Keller msg: 20.15 epoch sec; seqNo:1607495585779; depth 0.00 2020-12-09T06:33:05Z- waiting for 1607495586.37, time is 1607495585.39 2020-12-09T06:33:05Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495585.79 epoch sec; seqNo:511; 4061667.75 north; 594552.87 east 2020-12-09T06:33:05Z- waiting for 1607495586.37, time is 1607495585.39 2020-12-09T06:33:05Z- sync is 0.40, coherence is 2.00 2020-12-09T06:33:06Z- AHRS_M2 msg: 1607495586.17 epoch sec; seqNo:491 2020-12-09T06:33:06Z- AHRS_M2 msg: 4.64 phi; -0.23 theta; -0.23 psi 2020-12-09T06:33:06Z- waiting for 1607495586.37, time is 1607495585.39 2020-12-09T06:33:06Z- sync is 0.78, coherence is 2.00 2020-12-09T06:33:06Z- handleDepth()-Depth_Keller msg: 20.23 epoch sec; seqNo:1607495586177; depth 0.00 2020-12-09T06:33:06Z- waiting for 1607495586.37, time is 1607495585.39 2020-12-09T06:33:06Z- sync is 0.78, coherence is 2.00 2020-12-09T06:33:06Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:06Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:06Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:06Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:33:06Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:33:06Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:33:06Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:33:06Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:33:06Z- handleDvl() - RDI_Pathfinder msg: 1607495586.18 epoch sec; seqNo:273 2020-12-09T06:33:06Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:33:06Z- handleDvl() - RDI_Pathfinder msg: velocities 1.14 , 0.17 , 0.26 2020-12-09T06:33:06Z- waiting for 1607495586.37, time is 1607495586.18 2020-12-09T06:33:06Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495586.19 epoch sec; seqNo:512; 4061668.13 north; 594552.86 east 2020-12-09T06:33:06Z- waiting for 1607495586.37, time is 1607495586.18 2020-12-09T06:33:06Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:06Z- AHRS_M2 msg: 1607495586.58 epoch sec; seqNo:492 2020-12-09T06:33:06Z- AHRS_M2 msg: 4.63 phi; -0.23 theta; -0.23 psi 2020-12-09T06:33:06Z- waiting for 1607495586.37, time is 1607495586.18 2020-12-09T06:33:06Z- sync is 0.40, coherence is 2.00 2020-12-09T06:33:06Z- handleDepth()-Depth_Keller msg: 20.34 epoch sec; seqNo:1607495586584; depth 0.00 2020-12-09T06:33:06Z- waiting for 1607495586.37, time is 1607495586.18 2020-12-09T06:33:06Z- sync is 0.40, coherence is 2.00 2020-12-09T06:33:06Z- handleDvl() - RDI_Pathfinder msg: 1607495586.60 epoch sec; seqNo:274 2020-12-09T06:33:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 60.33 , 80.55 , 60.64 , 76.26 2020-12-09T06:33:06Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , 0.10 , 0.28 2020-12-09T06:33:06Z- waiting for 1607495586.37, time is 1607495586.60 2020-12-09T06:33:06Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:06Z- LcmTrn::updateTrn() >>>> pose time 1607495586.58, meas time 1607495586.60 <<<< 2020-12-09T06:33:06Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495586.60 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:33:06Z- TerrainNav::motionUpdate() - currEstimate = (4061668, 594552.86, 20.34) 2020-12-09T06:33:06Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:33:06Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:33:06Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:33:06Z- TNavBF::mmse selected from filter -1 2020-12-09T06:33:06Z- variances([0], [2], and psi_berg) = 813.854393 833.140032 0.000000 2020-12-09T06:33:06Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:33:06Z- LcmTrn::cycle() - MLE : 4061634.63 594505.36 20.34 2020-12-09T06:33:06Z- LcmTrn::cycle() - MMSE : 4061668.13 594552.86 20.34 2020-12-09T06:33:06Z- LcmTrn::cycle() - COVAR: 813.85 833.14 34.08 0.00 2020-12-09T06:33:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495586.61 epoch sec; seqNo:513; 4061668.13 north; 594552.86 east 2020-12-09T06:33:06Z- waiting for 1607495589.60, time is 1607495586.60 2020-12-09T06:33:06Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:06Z- AHRS_M2 msg: 1607495586.98 epoch sec; seqNo:493 2020-12-09T06:33:06Z- AHRS_M2 msg: 4.63 phi; -0.24 theta; -0.24 psi 2020-12-09T06:33:06Z- waiting for 1607495589.60, time is 1607495586.60 2020-12-09T06:33:06Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:06Z- handleDepth()-Depth_Keller msg: 20.40 epoch sec; seqNo:1607495586987; depth 0.00 2020-12-09T06:33:06Z- waiting for 1607495589.60, time is 1607495586.60 2020-12-09T06:33:06Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495587.01 epoch sec; seqNo:514; 4061668.11 north; 594551.64 east 2020-12-09T06:33:07Z- waiting for 1607495589.60, time is 1607495586.60 2020-12-09T06:33:07Z- sync is 0.41, coherence is 2.00 2020-12-09T06:33:07Z- AHRS_M2 msg: 1607495587.38 epoch sec; seqNo:494 2020-12-09T06:33:07Z- AHRS_M2 msg: 4.63 phi; -0.24 theta; -0.24 psi 2020-12-09T06:33:07Z- waiting for 1607495589.60, time is 1607495586.60 2020-12-09T06:33:07Z- sync is 0.79, coherence is 2.00 2020-12-09T06:33:07Z- handleDepth()-Depth_Keller msg: 20.49 epoch sec; seqNo:1607495587391; depth 0.00 2020-12-09T06:33:07Z- waiting for 1607495589.60, time is 1607495586.60 2020-12-09T06:33:07Z- sync is 0.79, coherence is 2.00 2020-12-09T06:33:07Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:07Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:07Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:07Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:33:07Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:33:07Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:33:07Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:33:07Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:33:07Z- handleDvl() - RDI_Pathfinder msg: 1607495587.39 epoch sec; seqNo:275 2020-12-09T06:33:07Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:33:07Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , 0.10 , 0.28 2020-12-09T06:33:07Z- waiting for 1607495589.60, time is 1607495587.39 2020-12-09T06:33:07Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495587.40 epoch sec; seqNo:515; 4061668.11 north; 594551.64 east 2020-12-09T06:33:07Z- waiting for 1607495589.60, time is 1607495587.39 2020-12-09T06:33:07Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:07Z- AHRS_M2 msg: 1607495587.79 epoch sec; seqNo:495 2020-12-09T06:33:07Z- AHRS_M2 msg: 4.64 phi; -0.24 theta; -0.24 psi 2020-12-09T06:33:07Z- waiting for 1607495589.60, time is 1607495587.39 2020-12-09T06:33:07Z- sync is 0.40, coherence is 2.00 2020-12-09T06:33:07Z- handleDepth()-Depth_Keller msg: 20.58 epoch sec; seqNo:1607495587802; depth 0.00 2020-12-09T06:33:07Z- waiting for 1607495589.60, time is 1607495587.39 2020-12-09T06:33:07Z- sync is 0.40, coherence is 2.00 2020-12-09T06:33:07Z- handleDvl() - RDI_Pathfinder msg: 1607495587.81 epoch sec; seqNo:276 2020-12-09T06:33:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 60.00 , 87.09 , 60.41 , 77.14 2020-12-09T06:33:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.04 , 0.24 2020-12-09T06:33:07Z- waiting for 1607495589.60, time is 1607495587.81 2020-12-09T06:33:07Z- sync is 0.03, coherence is 2.00 2020-12-09T06:33:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495587.84 epoch sec; seqNo:516; 4061668.11 north; 594551.64 east 2020-12-09T06:33:07Z- waiting for 1607495589.60, time is 1607495587.81 2020-12-09T06:33:07Z- sync is 0.03, coherence is 2.00 2020-12-09T06:33:08Z- AHRS_M2 msg: 1607495588.20 epoch sec; seqNo:496 2020-12-09T06:33:08Z- AHRS_M2 msg: 4.64 phi; -0.24 theta; -0.24 psi 2020-12-09T06:33:08Z- waiting for 1607495589.60, time is 1607495587.81 2020-12-09T06:33:08Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:08Z- handleDepth()-Depth_Keller msg: 20.67 epoch sec; seqNo:1607495588201; depth 0.00 2020-12-09T06:33:08Z- waiting for 1607495589.60, time is 1607495587.81 2020-12-09T06:33:08Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495588.21 epoch sec; seqNo:517; 4061668.10 north; 594550.42 east 2020-12-09T06:33:08Z- waiting for 1607495589.60, time is 1607495587.81 2020-12-09T06:33:08Z- sync is 0.40, coherence is 2.00 2020-12-09T06:33:08Z- AHRS_M2 msg: 1607495588.61 epoch sec; seqNo:497 2020-12-09T06:33:08Z- AHRS_M2 msg: 4.64 phi; -0.24 theta; -0.24 psi 2020-12-09T06:33:08Z- waiting for 1607495589.60, time is 1607495587.81 2020-12-09T06:33:08Z- sync is 0.80, coherence is 2.00 2020-12-09T06:33:08Z- handleDepth()-Depth_Keller msg: 20.75 epoch sec; seqNo:1607495588617; depth 0.00 2020-12-09T06:33:08Z- waiting for 1607495589.60, time is 1607495587.81 2020-12-09T06:33:08Z- sync is 0.80, coherence is 2.00 2020-12-09T06:33:08Z- handleDvl() - RDI_Pathfinder msg: 1607495588.63 epoch sec; seqNo:277 2020-12-09T06:33:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 60.00 , 84.93 , 60.00 , 77.55 2020-12-09T06:33:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.02 , 0.17 2020-12-09T06:33:08Z- waiting for 1607495589.60, time is 1607495588.63 2020-12-09T06:33:08Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495588.64 epoch sec; seqNo:518; 4061668.10 north; 594550.42 east 2020-12-09T06:33:08Z- waiting for 1607495589.60, time is 1607495588.63 2020-12-09T06:33:08Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:08Z- AHRS_M2 msg: 1607495589.00 epoch sec; seqNo:498 2020-12-09T06:33:08Z- AHRS_M2 msg: 4.65 phi; -0.24 theta; -0.24 psi 2020-12-09T06:33:08Z- waiting for 1607495589.60, time is 1607495588.63 2020-12-09T06:33:08Z- sync is 0.37, coherence is 2.00 2020-12-09T06:33:08Z- handleDepth()-Depth_Keller msg: 20.84 epoch sec; seqNo:1607495589008; depth 0.00 2020-12-09T06:33:08Z- waiting for 1607495589.60, time is 1607495588.63 2020-12-09T06:33:08Z- sync is 0.37, coherence is 2.00 2020-12-09T06:33:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495589.02 epoch sec; seqNo:519; 4061668.10 north; 594550.42 east 2020-12-09T06:33:09Z- waiting for 1607495589.60, time is 1607495588.63 2020-12-09T06:33:09Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:09Z- AHRS_M2 msg: 1607495589.40 epoch sec; seqNo:499 2020-12-09T06:33:09Z- AHRS_M2 msg: 4.65 phi; -0.24 theta; -0.24 psi 2020-12-09T06:33:09Z- waiting for 1607495589.60, time is 1607495588.63 2020-12-09T06:33:09Z- sync is 0.77, coherence is 2.00 2020-12-09T06:33:09Z- handleDepth()-Depth_Keller msg: 20.92 epoch sec; seqNo:1607495589417; depth 0.00 2020-12-09T06:33:09Z- waiting for 1607495589.60, time is 1607495588.63 2020-12-09T06:33:09Z- sync is 0.77, coherence is 2.00 2020-12-09T06:33:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495589.43 epoch sec; seqNo:520; 4061668.10 north; 594550.42 east 2020-12-09T06:33:09Z- waiting for 1607495589.60, time is 1607495588.63 2020-12-09T06:33:09Z- sync is 0.80, coherence is 2.00 2020-12-09T06:33:09Z- AHRS_M2 msg: 1607495589.81 epoch sec; seqNo:500 2020-12-09T06:33:09Z- AHRS_M2 msg: 4.66 phi; -0.24 theta; -0.23 psi 2020-12-09T06:33:09Z- waiting for 1607495589.60, time is 1607495588.63 2020-12-09T06:33:09Z- sync is 1.18, coherence is 2.00 2020-12-09T06:33:09Z- handleDepth()-Depth_Keller msg: 21.01 epoch sec; seqNo:1607495589816; depth 0.00 2020-12-09T06:33:09Z- waiting for 1607495589.60, time is 1607495588.63 2020-12-09T06:33:09Z- sync is 1.18, coherence is 2.00 2020-12-09T06:33:09Z- handleDvl() - RDI_Pathfinder msg: 1607495589.83 epoch sec; seqNo:278 2020-12-09T06:33:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 59.99 , 0.00 , 59.99 , 77.54 2020-12-09T06:33:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.04 , 0.10 2020-12-09T06:33:09Z- waiting for 1607495589.60, time is 1607495589.83 2020-12-09T06:33:09Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:09Z- LcmTrn::updateTrn() >>>> pose time 1607495589.81, meas time 1607495589.83 <<<< 2020-12-09T06:33:09Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495589.83 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:33:09Z- TerrainNav::motionUpdate() - currEstimate = (4061668, 594550.42, 21.01) 2020-12-09T06:33:09Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:33:09Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:33:09Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:33:09Z- TNavBF::mmse selected from filter -1 2020-12-09T06:33:09Z- variances([0], [2], and psi_berg) = 813.605023 833.139195 0.000000 2020-12-09T06:33:09Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:33:09Z- LcmTrn::cycle() - MLE : 4061634.60 594502.92 21.01 2020-12-09T06:33:09Z- LcmTrn::cycle() - MMSE : 4061668.10 594550.42 21.01 2020-12-09T06:33:09Z- LcmTrn::cycle() - COVAR: 813.61 833.14 34.21 0.00 2020-12-09T06:33:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495589.84 epoch sec; seqNo:521; 4061668.09 north; 594549.20 east 2020-12-09T06:33:09Z- waiting for 1607495592.83, time is 1607495589.83 2020-12-09T06:33:09Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:10Z- AHRS_M2 msg: 1607495590.25 epoch sec; seqNo:501 2020-12-09T06:33:10Z- AHRS_M2 msg: 4.67 phi; -0.24 theta; -0.23 psi 2020-12-09T06:33:10Z- waiting for 1607495592.83, time is 1607495589.83 2020-12-09T06:33:10Z- sync is 0.42, coherence is 2.00 2020-12-09T06:33:10Z- handleDepth()-Depth_Keller msg: 21.10 epoch sec; seqNo:1607495590446; depth 0.00 2020-12-09T06:33:10Z- waiting for 1607495592.83, time is 1607495589.83 2020-12-09T06:33:10Z- sync is 0.42, coherence is 2.00 2020-12-09T06:33:10Z- handleDvl() - RDI_Pathfinder msg: 1607495590.46 epoch sec; seqNo:279 2020-12-09T06:33:10Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 60.33 , 0.00 , 60.02 , 0.00 2020-12-09T06:33:10Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2020-12-09T06:33:10Z- waiting for 1607495592.83, time is 1607495590.46 2020-12-09T06:33:10Z- sync is 0.20, coherence is 2.00 2020-12-09T06:33:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495590.47 epoch sec; seqNo:522; 4061668.09 north; 594549.20 east 2020-12-09T06:33:10Z- waiting for 1607495592.83, time is 1607495590.46 2020-12-09T06:33:10Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:10Z- AHRS_M2 msg: 1607495590.62 epoch sec; seqNo:502 2020-12-09T06:33:10Z- AHRS_M2 msg: 4.67 phi; -0.24 theta; -0.22 psi 2020-12-09T06:33:10Z- waiting for 1607495592.83, time is 1607495590.46 2020-12-09T06:33:10Z- sync is 0.16, coherence is 2.00 2020-12-09T06:33:10Z- handleDepth()-Depth_Keller msg: 21.25 epoch sec; seqNo:1607495590659; depth 0.00 2020-12-09T06:33:10Z- waiting for 1607495592.83, time is 1607495590.46 2020-12-09T06:33:10Z- sync is 0.16, coherence is 2.00 2020-12-09T06:33:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495590.68 epoch sec; seqNo:523; 4061668.09 north; 594549.20 east 2020-12-09T06:33:10Z- waiting for 1607495592.83, time is 1607495590.46 2020-12-09T06:33:10Z- sync is 0.22, coherence is 2.00 2020-12-09T06:33:11Z- AHRS_M2 msg: 1607495591.02 epoch sec; seqNo:503 2020-12-09T06:33:11Z- AHRS_M2 msg: 4.68 phi; -0.24 theta; -0.22 psi 2020-12-09T06:33:11Z- waiting for 1607495592.83, time is 1607495590.46 2020-12-09T06:33:11Z- sync is 0.56, coherence is 2.00 2020-12-09T06:33:11Z- handleDepth()-Depth_Keller msg: 21.29 epoch sec; seqNo:1607495591060; depth 0.00 2020-12-09T06:33:11Z- waiting for 1607495592.83, time is 1607495590.46 2020-12-09T06:33:11Z- sync is 0.56, coherence is 2.00 2020-12-09T06:33:11Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:11Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:11Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:11Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:33:11Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:33:11Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:33:11Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:33:11Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:33:11Z- handleDvl() - RDI_Pathfinder msg: 1607495591.06 epoch sec; seqNo:280 2020-12-09T06:33:11Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:33:11Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2020-12-09T06:33:11Z- waiting for 1607495592.83, time is 1607495591.06 2020-12-09T06:33:11Z- sync is 0.04, coherence is 2.00 2020-12-09T06:33:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495591.08 epoch sec; seqNo:524; 4061668.09 north; 594549.20 east 2020-12-09T06:33:11Z- waiting for 1607495592.83, time is 1607495591.06 2020-12-09T06:33:11Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:11Z- AHRS_M2 msg: 1607495591.44 epoch sec; seqNo:504 2020-12-09T06:33:11Z- AHRS_M2 msg: 4.68 phi; -0.24 theta; -0.21 psi 2020-12-09T06:33:11Z- waiting for 1607495592.83, time is 1607495591.06 2020-12-09T06:33:11Z- sync is 0.37, coherence is 2.00 2020-12-09T06:33:11Z- handleDepth()-Depth_Keller msg: 21.36 epoch sec; seqNo:1607495591474; depth 0.00 2020-12-09T06:33:11Z- waiting for 1607495592.83, time is 1607495591.06 2020-12-09T06:33:11Z- sync is 0.37, coherence is 2.00 2020-12-09T06:33:11Z- handleDvl() - RDI_Pathfinder msg: 1607495591.50 epoch sec; seqNo:281 2020-12-09T06:33:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 60.43 , 0.00 , 59.61 , 76.76 2020-12-09T06:33:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.01 , -0.05 2020-12-09T06:33:11Z- waiting for 1607495592.83, time is 1607495591.50 2020-12-09T06:33:11Z- sync is 0.06, coherence is 2.00 2020-12-09T06:33:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495591.51 epoch sec; seqNo:525; 4061668.07 north; 594547.98 east 2020-12-09T06:33:11Z- waiting for 1607495592.83, time is 1607495591.50 2020-12-09T06:33:11Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:11Z- AHRS_M2 msg: 1607495591.83 epoch sec; seqNo:505 2020-12-09T06:33:11Z- AHRS_M2 msg: 4.68 phi; -0.24 theta; -0.21 psi 2020-12-09T06:33:11Z- waiting for 1607495592.83, time is 1607495591.50 2020-12-09T06:33:11Z- sync is 0.33, coherence is 2.00 2020-12-09T06:33:11Z- handleDepth()-Depth_Keller msg: 21.46 epoch sec; seqNo:1607495591834; depth 0.00 2020-12-09T06:33:11Z- waiting for 1607495592.83, time is 1607495591.50 2020-12-09T06:33:11Z- sync is 0.33, coherence is 2.00 2020-12-09T06:33:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495591.85 epoch sec; seqNo:526; 4061668.07 north; 594547.98 east 2020-12-09T06:33:11Z- waiting for 1607495592.83, time is 1607495591.50 2020-12-09T06:33:11Z- sync is 0.36, coherence is 2.00 2020-12-09T06:33:12Z- AHRS_M2 msg: 1607495592.24 epoch sec; seqNo:506 2020-12-09T06:33:12Z- AHRS_M2 msg: 4.68 phi; -0.24 theta; -0.21 psi 2020-12-09T06:33:12Z- waiting for 1607495592.83, time is 1607495591.50 2020-12-09T06:33:12Z- sync is 0.74, coherence is 2.00 2020-12-09T06:33:12Z- handleDepth()-Depth_Keller msg: 21.53 epoch sec; seqNo:1607495592244; depth 0.00 2020-12-09T06:33:12Z- waiting for 1607495592.83, time is 1607495591.50 2020-12-09T06:33:12Z- sync is 0.74, coherence is 2.00 2020-12-09T06:33:12Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:12Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:12Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:12Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:33:12Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:33:12Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:33:12Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:33:12Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:33:12Z- handleDvl() - RDI_Pathfinder msg: 1607495592.25 epoch sec; seqNo:282 2020-12-09T06:33:12Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:33:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.01 , -0.05 2020-12-09T06:33:12Z- waiting for 1607495592.83, time is 1607495592.25 2020-12-09T06:33:12Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495592.30 epoch sec; seqNo:527; 4061668.07 north; 594547.98 east 2020-12-09T06:33:12Z- waiting for 1607495592.83, time is 1607495592.25 2020-12-09T06:33:12Z- sync is 0.05, coherence is 2.00 2020-12-09T06:33:12Z- AHRS_M2 msg: 1607495592.64 epoch sec; seqNo:507 2020-12-09T06:33:12Z- AHRS_M2 msg: 4.69 phi; -0.24 theta; -0.20 psi 2020-12-09T06:33:12Z- waiting for 1607495592.83, time is 1607495592.25 2020-12-09T06:33:12Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:12Z- handleDepth()-Depth_Keller msg: 21.62 epoch sec; seqNo:1607495592645; depth 0.00 2020-12-09T06:33:12Z- waiting for 1607495592.83, time is 1607495592.25 2020-12-09T06:33:12Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:12Z- handleDvl() - RDI_Pathfinder msg: 1607495592.66 epoch sec; seqNo:283 2020-12-09T06:33:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 60.33 , 77.78 , 59.10 , 76.86 2020-12-09T06:33:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.05 , -0.11 2020-12-09T06:33:12Z- waiting for 1607495592.83, time is 1607495592.66 2020-12-09T06:33:12Z- sync is 0.03, coherence is 2.00 2020-12-09T06:33:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495592.68 epoch sec; seqNo:528; 4061668.06 north; 594546.76 east 2020-12-09T06:33:12Z- waiting for 1607495592.83, time is 1607495592.66 2020-12-09T06:33:12Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:13Z- AHRS_M2 msg: 1607495593.04 epoch sec; seqNo:508 2020-12-09T06:33:13Z- AHRS_M2 msg: 4.69 phi; -0.24 theta; -0.20 psi 2020-12-09T06:33:13Z- waiting for 1607495592.83, time is 1607495592.66 2020-12-09T06:33:13Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:13Z- handleDepth()-Depth_Keller msg: 21.69 epoch sec; seqNo:1607495593054; depth 0.00 2020-12-09T06:33:13Z- waiting for 1607495592.83, time is 1607495592.66 2020-12-09T06:33:13Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495593.07 epoch sec; seqNo:529; 4061668.06 north; 594546.76 east 2020-12-09T06:33:13Z- waiting for 1607495592.83, time is 1607495592.66 2020-12-09T06:33:13Z- sync is 0.40, coherence is 2.00 2020-12-09T06:33:13Z- handleDepth()-Depth_Keller msg: 21.77 epoch sec; seqNo:1607495593486; depth 0.00 2020-12-09T06:33:13Z- waiting for 1607495592.83, time is 1607495592.66 2020-12-09T06:33:13Z- sync is 0.40, coherence is 2.00 2020-12-09T06:33:13Z- handleDvl() - RDI_Pathfinder msg: 1607495593.50 epoch sec; seqNo:284 2020-12-09T06:33:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 60.12 , 77.25 , 58.83 , 76.93 2020-12-09T06:33:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.04 , -0.13 2020-12-09T06:33:13Z- waiting for 1607495592.83, time is 1607495593.50 2020-12-09T06:33:13Z- sync is 0.43, coherence is 2.00 2020-12-09T06:33:13Z- LcmTrn::updateTrn() >>>> pose time 1607495593.07, meas time 1607495593.50 <<<< 2020-12-09T06:33:13Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495593.50 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:33:13Z- TerrainNav::motionUpdate() - currEstimate = (4061668, 594546.76, 21.77) 2020-12-09T06:33:13Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:33:13Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:33:13Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:33:13Z- TNavBF::mmse selected from filter -1 2020-12-09T06:33:13Z- variances([0], [2], and psi_berg) = 813.301710 833.138188 0.000000 2020-12-09T06:33:13Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:33:13Z- LcmTrn::cycle() - MLE : 4061634.56 594499.26 21.77 2020-12-09T06:33:13Z- LcmTrn::cycle() - MMSE : 4061668.06 594546.76 21.77 2020-12-09T06:33:13Z- LcmTrn::cycle() - COVAR: 813.30 833.14 34.39 0.00 2020-12-09T06:33:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495593.53 epoch sec; seqNo:530; 4061668.06 north; 594546.76 east 2020-12-09T06:33:13Z- waiting for 1607495596.50, time is 1607495593.50 2020-12-09T06:33:13Z- sync is 0.03, coherence is 2.00 2020-12-09T06:33:13Z- AHRS_M2 msg: 1607495593.85 epoch sec; seqNo:509 2020-12-09T06:33:13Z- AHRS_M2 msg: 4.69 phi; -0.24 theta; -0.21 psi 2020-12-09T06:33:13Z- waiting for 1607495596.50, time is 1607495593.50 2020-12-09T06:33:13Z- sync is 0.35, coherence is 2.00 2020-12-09T06:33:13Z- handleDepth()-Depth_Keller msg: 21.86 epoch sec; seqNo:1607495593855; depth 0.00 2020-12-09T06:33:13Z- waiting for 1607495596.50, time is 1607495593.50 2020-12-09T06:33:13Z- sync is 0.35, coherence is 2.00 2020-12-09T06:33:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495593.87 epoch sec; seqNo:531; 4061668.04 north; 594545.54 east 2020-12-09T06:33:13Z- waiting for 1607495596.50, time is 1607495593.50 2020-12-09T06:33:13Z- sync is 0.37, coherence is 2.00 2020-12-09T06:33:14Z- AHRS_M2 msg: 1607495594.27 epoch sec; seqNo:510 2020-12-09T06:33:14Z- AHRS_M2 msg: 4.69 phi; -0.24 theta; -0.21 psi 2020-12-09T06:33:14Z- waiting for 1607495596.50, time is 1607495593.50 2020-12-09T06:33:14Z- sync is 0.77, coherence is 2.00 2020-12-09T06:33:14Z- handleDepth()-Depth_Keller msg: 21.94 epoch sec; seqNo:1607495594285; depth 0.00 2020-12-09T06:33:14Z- waiting for 1607495596.50, time is 1607495593.50 2020-12-09T06:33:14Z- sync is 0.77, coherence is 2.00 2020-12-09T06:33:14Z- handleDvl() - RDI_Pathfinder msg: 1607495594.32 epoch sec; seqNo:285 2020-12-09T06:33:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 59.48 , 0.00 , 58.83 , 76.93 2020-12-09T06:33:14Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.05 , -0.10 2020-12-09T06:33:14Z- waiting for 1607495596.50, time is 1607495594.32 2020-12-09T06:33:14Z- sync is 0.05, coherence is 2.00 2020-12-09T06:33:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495594.33 epoch sec; seqNo:532; 4061668.04 north; 594545.54 east 2020-12-09T06:33:14Z- waiting for 1607495596.50, time is 1607495594.32 2020-12-09T06:33:14Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:14Z- AHRS_M2 msg: 1607495594.66 epoch sec; seqNo:511 2020-12-09T06:33:14Z- AHRS_M2 msg: 4.69 phi; -0.24 theta; -0.21 psi 2020-12-09T06:33:14Z- waiting for 1607495596.50, time is 1607495594.32 2020-12-09T06:33:14Z- sync is 0.34, coherence is 2.00 2020-12-09T06:33:14Z- handleDepth()-Depth_Keller msg: 22.04 epoch sec; seqNo:1607495594666; depth 0.00 2020-12-09T06:33:14Z- waiting for 1607495596.50, time is 1607495594.32 2020-12-09T06:33:14Z- sync is 0.34, coherence is 2.00 2020-12-09T06:33:14Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:14Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:14Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:14Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:33:14Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:33:14Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:33:14Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:33:14Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:33:14Z- handleDvl() - RDI_Pathfinder msg: 1607495594.67 epoch sec; seqNo:286 2020-12-09T06:33:14Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:33:14Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.05 , -0.10 2020-12-09T06:33:14Z- waiting for 1607495596.50, time is 1607495594.67 2020-12-09T06:33:14Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495594.68 epoch sec; seqNo:533; 4061668.04 north; 594545.54 east 2020-12-09T06:33:14Z- waiting for 1607495596.50, time is 1607495594.67 2020-12-09T06:33:14Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:15Z- AHRS_M2 msg: 1607495595.06 epoch sec; seqNo:512 2020-12-09T06:33:15Z- AHRS_M2 msg: 4.68 phi; -0.24 theta; -0.22 psi 2020-12-09T06:33:15Z- waiting for 1607495596.50, time is 1607495594.67 2020-12-09T06:33:15Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:15Z- handleDepth()-Depth_Keller msg: 22.09 epoch sec; seqNo:1607495595067; depth 0.00 2020-12-09T06:33:15Z- waiting for 1607495596.50, time is 1607495594.67 2020-12-09T06:33:15Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495595.08 epoch sec; seqNo:534; 4061668.03 north; 594544.32 east 2020-12-09T06:33:15Z- waiting for 1607495596.50, time is 1607495594.67 2020-12-09T06:33:15Z- sync is 0.42, coherence is 2.00 2020-12-09T06:33:15Z- AHRS_M2 msg: 1607495595.46 epoch sec; seqNo:513 2020-12-09T06:33:15Z- AHRS_M2 msg: 4.68 phi; -0.24 theta; -0.22 psi 2020-12-09T06:33:15Z- waiting for 1607495596.50, time is 1607495594.67 2020-12-09T06:33:15Z- sync is 0.80, coherence is 2.00 2020-12-09T06:33:15Z- handleDepth()-Depth_Keller msg: 22.17 epoch sec; seqNo:1607495595472; depth 0.00 2020-12-09T06:33:15Z- waiting for 1607495596.50, time is 1607495594.67 2020-12-09T06:33:15Z- sync is 0.80, coherence is 2.00 2020-12-09T06:33:15Z- handleDvl() - RDI_Pathfinder msg: 1607495595.51 epoch sec; seqNo:287 2020-12-09T06:33:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 59.10 , 0.00 , 58.49 , 0.00 2020-12-09T06:33:15Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2020-12-09T06:33:15Z- waiting for 1607495596.50, time is 1607495595.51 2020-12-09T06:33:15Z- sync is 0.04, coherence is 2.00 2020-12-09T06:33:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495595.52 epoch sec; seqNo:535; 4061668.03 north; 594544.32 east 2020-12-09T06:33:15Z- waiting for 1607495596.50, time is 1607495595.51 2020-12-09T06:33:15Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:15Z- AHRS_M2 msg: 1607495595.87 epoch sec; seqNo:514 2020-12-09T06:33:15Z- AHRS_M2 msg: 4.68 phi; -0.24 theta; -0.23 psi 2020-12-09T06:33:15Z- waiting for 1607495596.50, time is 1607495595.51 2020-12-09T06:33:15Z- sync is 0.36, coherence is 2.00 2020-12-09T06:33:15Z- handleDepth()-Depth_Keller msg: 22.26 epoch sec; seqNo:1607495595882; depth 0.00 2020-12-09T06:33:15Z- waiting for 1607495596.50, time is 1607495595.51 2020-12-09T06:33:15Z- sync is 0.36, coherence is 2.00 2020-12-09T06:33:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495595.90 epoch sec; seqNo:536; 4061668.03 north; 594544.32 east 2020-12-09T06:33:15Z- waiting for 1607495596.50, time is 1607495595.51 2020-12-09T06:33:15Z- sync is 0.40, coherence is 2.00 2020-12-09T06:33:16Z- AHRS_M2 msg: 1607495596.27 epoch sec; seqNo:515 2020-12-09T06:33:16Z- AHRS_M2 msg: 4.67 phi; -0.24 theta; -0.23 psi 2020-12-09T06:33:16Z- waiting for 1607495596.50, time is 1607495595.51 2020-12-09T06:33:16Z- sync is 0.77, coherence is 2.00 2020-12-09T06:33:16Z- handleDepth()-Depth_Keller msg: 22.35 epoch sec; seqNo:1607495596283; depth 0.00 2020-12-09T06:33:16Z- waiting for 1607495596.50, time is 1607495595.51 2020-12-09T06:33:16Z- sync is 0.77, coherence is 2.00 2020-12-09T06:33:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495596.30 epoch sec; seqNo:537; 4061668.02 north; 594543.10 east 2020-12-09T06:33:16Z- waiting for 1607495596.50, time is 1607495595.51 2020-12-09T06:33:16Z- sync is 0.79, coherence is 2.00 2020-12-09T06:33:16Z- AHRS_M2 msg: 1607495596.68 epoch sec; seqNo:516 2020-12-09T06:33:16Z- AHRS_M2 msg: 4.66 phi; -0.24 theta; -0.23 psi 2020-12-09T06:33:16Z- waiting for 1607495596.50, time is 1607495595.51 2020-12-09T06:33:16Z- sync is 1.18, coherence is 2.00 2020-12-09T06:33:16Z- handleDepth()-Depth_Keller msg: 22.42 epoch sec; seqNo:1607495596697; depth 0.00 2020-12-09T06:33:16Z- waiting for 1607495596.50, time is 1607495595.51 2020-12-09T06:33:16Z- sync is 1.18, coherence is 2.00 2020-12-09T06:33:16Z- handleDvl() - RDI_Pathfinder msg: 1607495596.71 epoch sec; seqNo:288 2020-12-09T06:33:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 58.39 , 0.00 , 58.39 , 76.35 2020-12-09T06:33:16Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , 0.02 , 0.06 2020-12-09T06:33:16Z- waiting for 1607495596.50, time is 1607495596.71 2020-12-09T06:33:16Z- sync is 0.03, coherence is 2.00 2020-12-09T06:33:16Z- LcmTrn::updateTrn() >>>> pose time 1607495596.68, meas time 1607495596.71 <<<< 2020-12-09T06:33:16Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495596.71 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:33:16Z- TerrainNav::motionUpdate() - currEstimate = (4061668, 594543.10, 22.42) 2020-12-09T06:33:16Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:33:16Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:33:16Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:33:16Z- TNavBF::mmse selected from filter -1 2020-12-09T06:33:16Z- variances([0], [2], and psi_berg) = 813.000938 833.137201 0.000000 2020-12-09T06:33:16Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:33:16Z- LcmTrn::cycle() - MLE : 4061634.52 594495.60 22.42 2020-12-09T06:33:16Z- LcmTrn::cycle() - MMSE : 4061668.02 594543.10 22.42 2020-12-09T06:33:16Z- LcmTrn::cycle() - COVAR: 813.00 833.14 34.58 0.00 2020-12-09T06:33:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495596.72 epoch sec; seqNo:538; 4061667.64 north; 594543.10 east 2020-12-09T06:33:16Z- waiting for 1607495599.71, time is 1607495596.71 2020-12-09T06:33:16Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:17Z- AHRS_M2 msg: 1607495597.09 epoch sec; seqNo:517 2020-12-09T06:33:17Z- AHRS_M2 msg: 4.66 phi; -0.24 theta; -0.23 psi 2020-12-09T06:33:17Z- waiting for 1607495599.71, time is 1607495596.71 2020-12-09T06:33:17Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:17Z- handleDepth()-Depth_Keller msg: 22.51 epoch sec; seqNo:1607495597090; depth 0.00 2020-12-09T06:33:17Z- waiting for 1607495599.71, time is 1607495596.71 2020-12-09T06:33:17Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495597.10 epoch sec; seqNo:539; 4061667.64 north; 594543.10 east 2020-12-09T06:33:17Z- waiting for 1607495599.71, time is 1607495596.71 2020-12-09T06:33:17Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:17Z- AHRS_M2 msg: 1607495597.49 epoch sec; seqNo:518 2020-12-09T06:33:17Z- AHRS_M2 msg: 4.65 phi; -0.24 theta; -0.24 psi 2020-12-09T06:33:17Z- waiting for 1607495599.71, time is 1607495596.71 2020-12-09T06:33:17Z- sync is 0.78, coherence is 2.00 2020-12-09T06:33:17Z- handleDepth()-Depth_Keller msg: 22.59 epoch sec; seqNo:1607495597496; depth 0.00 2020-12-09T06:33:17Z- waiting for 1607495599.71, time is 1607495596.71 2020-12-09T06:33:17Z- sync is 0.78, coherence is 2.00 2020-12-09T06:33:17Z- handleDvl() - RDI_Pathfinder msg: 1607495597.51 epoch sec; seqNo:289 2020-12-09T06:33:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 58.49 , 78.70 , 58.18 , 76.25 2020-12-09T06:33:17Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.02 , 0.14 2020-12-09T06:33:17Z- waiting for 1607495599.71, time is 1607495597.51 2020-12-09T06:33:17Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495597.54 epoch sec; seqNo:540; 4061667.63 north; 594541.88 east 2020-12-09T06:33:17Z- waiting for 1607495599.71, time is 1607495597.51 2020-12-09T06:33:17Z- sync is 0.03, coherence is 2.00 2020-12-09T06:33:17Z- AHRS_M2 msg: 1607495597.94 epoch sec; seqNo:519 2020-12-09T06:33:17Z- AHRS_M2 msg: 4.65 phi; -0.25 theta; -0.24 psi 2020-12-09T06:33:17Z- waiting for 1607495599.71, time is 1607495597.51 2020-12-09T06:33:17Z- sync is 0.43, coherence is 2.00 2020-12-09T06:33:17Z- handleDepth()-Depth_Keller msg: 22.69 epoch sec; seqNo:1607495597949; depth 0.00 2020-12-09T06:33:17Z- waiting for 1607495599.71, time is 1607495597.51 2020-12-09T06:33:17Z- sync is 0.43, coherence is 2.00 2020-12-09T06:33:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495597.96 epoch sec; seqNo:541; 4061667.63 north; 594541.88 east 2020-12-09T06:33:17Z- waiting for 1607495599.71, time is 1607495597.51 2020-12-09T06:33:17Z- sync is 0.45, coherence is 2.00 2020-12-09T06:33:18Z- AHRS_M2 msg: 1607495598.30 epoch sec; seqNo:520 2020-12-09T06:33:18Z- AHRS_M2 msg: 4.65 phi; -0.25 theta; -0.24 psi 2020-12-09T06:33:18Z- waiting for 1607495599.71, time is 1607495597.51 2020-12-09T06:33:18Z- sync is 0.79, coherence is 2.00 2020-12-09T06:33:18Z- handleDepth()-Depth_Keller msg: 22.76 epoch sec; seqNo:1607495598308; depth 0.00 2020-12-09T06:33:18Z- waiting for 1607495599.71, time is 1607495597.51 2020-12-09T06:33:18Z- sync is 0.79, coherence is 2.00 2020-12-09T06:33:18Z- handleDvl() - RDI_Pathfinder msg: 1607495598.32 epoch sec; seqNo:290 2020-12-09T06:33:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 58.18 , 0.00 , 58.18 , 75.96 2020-12-09T06:33:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.06 , 0.16 2020-12-09T06:33:18Z- waiting for 1607495599.71, time is 1607495598.32 2020-12-09T06:33:18Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495598.33 epoch sec; seqNo:542; 4061667.63 north; 594541.88 east 2020-12-09T06:33:18Z- waiting for 1607495599.71, time is 1607495598.32 2020-12-09T06:33:18Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:18Z- AHRS_M2 msg: 1607495598.70 epoch sec; seqNo:521 2020-12-09T06:33:18Z- AHRS_M2 msg: 4.65 phi; -0.25 theta; -0.24 psi 2020-12-09T06:33:18Z- waiting for 1607495599.71, time is 1607495598.32 2020-12-09T06:33:18Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:18Z- handleDepth()-Depth_Keller msg: 22.86 epoch sec; seqNo:1607495598702; depth 0.00 2020-12-09T06:33:18Z- waiting for 1607495599.71, time is 1607495598.32 2020-12-09T06:33:18Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495598.72 epoch sec; seqNo:543; 4061667.61 north; 594540.66 east 2020-12-09T06:33:18Z- waiting for 1607495599.71, time is 1607495598.32 2020-12-09T06:33:18Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:19Z- AHRS_M2 msg: 1607495599.10 epoch sec; seqNo:522 2020-12-09T06:33:19Z- AHRS_M2 msg: 4.65 phi; -0.25 theta; -0.24 psi 2020-12-09T06:33:19Z- waiting for 1607495599.71, time is 1607495598.32 2020-12-09T06:33:19Z- sync is 0.78, coherence is 2.00 2020-12-09T06:33:19Z- handleDepth()-Depth_Keller msg: 22.94 epoch sec; seqNo:1607495599114; depth 0.00 2020-12-09T06:33:19Z- waiting for 1607495599.71, time is 1607495598.32 2020-12-09T06:33:19Z- sync is 0.78, coherence is 2.00 2020-12-09T06:33:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495599.12 epoch sec; seqNo:544; 4061667.61 north; 594540.66 east 2020-12-09T06:33:19Z- waiting for 1607495599.71, time is 1607495598.32 2020-12-09T06:33:19Z- sync is 0.80, coherence is 2.00 2020-12-09T06:33:19Z- AHRS_M2 msg: 1607495599.51 epoch sec; seqNo:523 2020-12-09T06:33:19Z- AHRS_M2 msg: 4.65 phi; -0.25 theta; -0.24 psi 2020-12-09T06:33:19Z- waiting for 1607495599.71, time is 1607495598.32 2020-12-09T06:33:19Z- sync is 1.19, coherence is 2.00 2020-12-09T06:33:19Z- handleDepth()-Depth_Keller msg: 23.03 epoch sec; seqNo:1607495599518; depth 0.00 2020-12-09T06:33:19Z- waiting for 1607495599.71, time is 1607495598.32 2020-12-09T06:33:19Z- sync is 1.19, coherence is 2.00 2020-12-09T06:33:19Z- handleDvl() - RDI_Pathfinder msg: 1607495599.53 epoch sec; seqNo:291 2020-12-09T06:33:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 58.18 , 78.70 , 58.18 , 76.56 2020-12-09T06:33:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.07 , 0.12 2020-12-09T06:33:19Z- waiting for 1607495599.71, time is 1607495599.53 2020-12-09T06:33:19Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495599.55 epoch sec; seqNo:545; 4061667.61 north; 594540.66 east 2020-12-09T06:33:19Z- waiting for 1607495599.71, time is 1607495599.53 2020-12-09T06:33:19Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:19Z- AHRS_M2 msg: 1607495599.91 epoch sec; seqNo:524 2020-12-09T06:33:19Z- AHRS_M2 msg: 4.65 phi; -0.25 theta; -0.24 psi 2020-12-09T06:33:19Z- waiting for 1607495599.71, time is 1607495599.53 2020-12-09T06:33:19Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:19Z- handleDepth()-Depth_Keller msg: 23.12 epoch sec; seqNo:1607495599915; depth 0.00 2020-12-09T06:33:19Z- waiting for 1607495599.71, time is 1607495599.53 2020-12-09T06:33:19Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495599.93 epoch sec; seqNo:546; 4061667.60 north; 594539.44 east 2020-12-09T06:33:19Z- waiting for 1607495599.71, time is 1607495599.53 2020-12-09T06:33:19Z- sync is 0.40, coherence is 2.00 2020-12-09T06:33:20Z- AHRS_M2 msg: 1607495600.31 epoch sec; seqNo:525 2020-12-09T06:33:20Z- AHRS_M2 msg: 4.66 phi; -0.25 theta; -0.24 psi 2020-12-09T06:33:20Z- waiting for 1607495599.71, time is 1607495599.53 2020-12-09T06:33:20Z- sync is 0.78, coherence is 2.00 2020-12-09T06:33:20Z- handleDepth()-Depth_Keller msg: 23.21 epoch sec; seqNo:1607495600319; depth 0.00 2020-12-09T06:33:20Z- waiting for 1607495599.71, time is 1607495599.53 2020-12-09T06:33:20Z- sync is 0.78, coherence is 2.00 2020-12-09T06:33:20Z- handleDvl() - RDI_Pathfinder msg: 1607495600.33 epoch sec; seqNo:292 2020-12-09T06:33:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 57.86 , 77.90 , 57.86 , 76.61 2020-12-09T06:33:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.09 , 0.05 2020-12-09T06:33:20Z- waiting for 1607495599.71, time is 1607495600.33 2020-12-09T06:33:20Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:20Z- LcmTrn::updateTrn() >>>> pose time 1607495600.31, meas time 1607495600.33 <<<< 2020-12-09T06:33:20Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495600.33 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:33:20Z- TerrainNav::motionUpdate() - currEstimate = (4061668, 594539.44, 23.21) 2020-12-09T06:33:20Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:33:20Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:33:20Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:33:20Z- TNavBF::mmse selected from filter -1 2020-12-09T06:33:20Z- variances([0], [2], and psi_berg) = 812.701859 833.136231 0.000000 2020-12-09T06:33:20Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:33:20Z- LcmTrn::cycle() - MLE : 4061634.10 594491.94 23.21 2020-12-09T06:33:20Z- LcmTrn::cycle() - MMSE : 4061667.60 594539.44 23.21 2020-12-09T06:33:20Z- LcmTrn::cycle() - COVAR: 812.70 833.14 34.77 0.00 2020-12-09T06:33:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495600.34 epoch sec; seqNo:547; 4061667.60 north; 594539.44 east 2020-12-09T06:33:20Z- waiting for 1607495603.33, time is 1607495600.33 2020-12-09T06:33:20Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:20Z- AHRS_M2 msg: 1607495600.72 epoch sec; seqNo:526 2020-12-09T06:33:20Z- AHRS_M2 msg: 4.66 phi; -0.25 theta; -0.24 psi 2020-12-09T06:33:20Z- waiting for 1607495603.33, time is 1607495600.33 2020-12-09T06:33:20Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:20Z- handleDepth()-Depth_Keller msg: 23.30 epoch sec; seqNo:1607495600731; depth 0.00 2020-12-09T06:33:20Z- waiting for 1607495603.33, time is 1607495600.33 2020-12-09T06:33:20Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:20Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:20Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:20Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:20Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:33:20Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:33:20Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:33:20Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:33:20Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:33:20Z- handleDvl() - RDI_Pathfinder msg: 1607495600.73 epoch sec; seqNo:293 2020-12-09T06:33:20Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:33:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.09 , 0.05 2020-12-09T06:33:20Z- waiting for 1607495603.33, time is 1607495600.73 2020-12-09T06:33:20Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495600.75 epoch sec; seqNo:548; 4061667.60 north; 594539.44 east 2020-12-09T06:33:20Z- waiting for 1607495603.33, time is 1607495600.73 2020-12-09T06:33:20Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:21Z- AHRS_M2 msg: 1607495601.12 epoch sec; seqNo:527 2020-12-09T06:33:21Z- AHRS_M2 msg: 4.66 phi; -0.25 theta; -0.24 psi 2020-12-09T06:33:21Z- waiting for 1607495603.33, time is 1607495600.73 2020-12-09T06:33:21Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:21Z- handleDepth()-Depth_Keller msg: 23.38 epoch sec; seqNo:1607495601133; depth 0.00 2020-12-09T06:33:21Z- waiting for 1607495603.33, time is 1607495600.73 2020-12-09T06:33:21Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495601.14 epoch sec; seqNo:549; 4061667.60 north; 594539.44 east 2020-12-09T06:33:21Z- waiting for 1607495603.33, time is 1607495600.73 2020-12-09T06:33:21Z- sync is 0.41, coherence is 2.00 2020-12-09T06:33:21Z- AHRS_M2 msg: 1607495601.53 epoch sec; seqNo:528 2020-12-09T06:33:21Z- AHRS_M2 msg: 4.67 phi; -0.25 theta; -0.23 psi 2020-12-09T06:33:21Z- waiting for 1607495603.33, time is 1607495600.73 2020-12-09T06:33:21Z- sync is 0.79, coherence is 2.00 2020-12-09T06:33:21Z- handleDepth()-Depth_Keller msg: 23.46 epoch sec; seqNo:1607495601535; depth 0.00 2020-12-09T06:33:21Z- waiting for 1607495603.33, time is 1607495600.73 2020-12-09T06:33:21Z- sync is 0.79, coherence is 2.00 2020-12-09T06:33:21Z- handleDvl() - RDI_Pathfinder msg: 1607495601.56 epoch sec; seqNo:294 2020-12-09T06:33:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 58.18 , 77.25 , 57.21 , 75.96 2020-12-09T06:33:21Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.06 , 0.00 2020-12-09T06:33:21Z- waiting for 1607495603.33, time is 1607495601.56 2020-12-09T06:33:21Z- sync is 0.04, coherence is 2.00 2020-12-09T06:33:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495601.58 epoch sec; seqNo:550; 4061667.21 north; 594538.23 east 2020-12-09T06:33:21Z- waiting for 1607495603.33, time is 1607495601.56 2020-12-09T06:33:21Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:21Z- AHRS_M2 msg: 1607495601.93 epoch sec; seqNo:529 2020-12-09T06:33:21Z- AHRS_M2 msg: 4.67 phi; -0.25 theta; -0.23 psi 2020-12-09T06:33:21Z- waiting for 1607495603.33, time is 1607495601.56 2020-12-09T06:33:21Z- sync is 0.37, coherence is 2.00 2020-12-09T06:33:21Z- handleDepth()-Depth_Keller msg: 23.56 epoch sec; seqNo:1607495601935; depth 0.00 2020-12-09T06:33:21Z- waiting for 1607495603.33, time is 1607495601.56 2020-12-09T06:33:21Z- sync is 0.37, coherence is 2.00 2020-12-09T06:33:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495601.95 epoch sec; seqNo:551; 4061667.21 north; 594538.23 east 2020-12-09T06:33:21Z- waiting for 1607495603.33, time is 1607495601.56 2020-12-09T06:33:21Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:22Z- AHRS_M2 msg: 1607495602.33 epoch sec; seqNo:530 2020-12-09T06:33:22Z- AHRS_M2 msg: 4.67 phi; -0.25 theta; -0.23 psi 2020-12-09T06:33:22Z- waiting for 1607495603.33, time is 1607495601.56 2020-12-09T06:33:22Z- sync is 0.77, coherence is 2.00 2020-12-09T06:33:22Z- handleDepth()-Depth_Keller msg: 23.64 epoch sec; seqNo:1607495602339; depth 0.00 2020-12-09T06:33:22Z- waiting for 1607495603.33, time is 1607495601.56 2020-12-09T06:33:22Z- sync is 0.77, coherence is 2.00 2020-12-09T06:33:22Z- handleDvl() - RDI_Pathfinder msg: 1607495602.35 epoch sec; seqNo:295 2020-12-09T06:33:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 58.18 , 76.93 , 57.21 , 0.00 2020-12-09T06:33:22Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , -0.01 , 0.00 2020-12-09T06:33:22Z- waiting for 1607495603.33, time is 1607495602.35 2020-12-09T06:33:22Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495602.36 epoch sec; seqNo:552; 4061667.21 north; 594538.23 east 2020-12-09T06:33:22Z- waiting for 1607495603.33, time is 1607495602.35 2020-12-09T06:33:22Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:22Z- AHRS_M2 msg: 1607495602.74 epoch sec; seqNo:531 2020-12-09T06:33:22Z- AHRS_M2 msg: 4.67 phi; -0.25 theta; -0.23 psi 2020-12-09T06:33:22Z- waiting for 1607495603.33, time is 1607495602.35 2020-12-09T06:33:22Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:22Z- handleDepth()-Depth_Keller msg: 23.74 epoch sec; seqNo:1607495602750; depth 0.00 2020-12-09T06:33:22Z- waiting for 1607495603.33, time is 1607495602.35 2020-12-09T06:33:22Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495602.77 epoch sec; seqNo:553; 4061667.19 north; 594537.01 east 2020-12-09T06:33:22Z- waiting for 1607495603.33, time is 1607495602.35 2020-12-09T06:33:22Z- sync is 0.42, coherence is 2.00 2020-12-09T06:33:23Z- AHRS_M2 msg: 1607495603.14 epoch sec; seqNo:532 2020-12-09T06:33:23Z- AHRS_M2 msg: 4.67 phi; -0.25 theta; -0.22 psi 2020-12-09T06:33:23Z- waiting for 1607495603.33, time is 1607495602.35 2020-12-09T06:33:23Z- sync is 0.79, coherence is 2.00 2020-12-09T06:33:23Z- handleDepth()-Depth_Keller msg: 23.82 epoch sec; seqNo:1607495603150; depth 0.00 2020-12-09T06:33:23Z- waiting for 1607495603.33, time is 1607495602.35 2020-12-09T06:33:23Z- sync is 0.79, coherence is 2.00 2020-12-09T06:33:23Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:23Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:23Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:23Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:33:23Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:33:23Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:33:23Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:33:23Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:33:23Z- handleDvl() - RDI_Pathfinder msg: 1607495603.15 epoch sec; seqNo:296 2020-12-09T06:33:23Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:33:23Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , -0.01 , 0.00 2020-12-09T06:33:23Z- waiting for 1607495603.33, time is 1607495603.15 2020-12-09T06:33:23Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495603.17 epoch sec; seqNo:554; 4061667.19 north; 594537.01 east 2020-12-09T06:33:23Z- waiting for 1607495603.33, time is 1607495603.15 2020-12-09T06:33:23Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:23Z- AHRS_M2 msg: 1607495603.55 epoch sec; seqNo:533 2020-12-09T06:33:23Z- AHRS_M2 msg: 4.67 phi; -0.25 theta; -0.22 psi 2020-12-09T06:33:23Z- waiting for 1607495603.33, time is 1607495603.15 2020-12-09T06:33:23Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:23Z- handleDepth()-Depth_Keller msg: 23.90 epoch sec; seqNo:1607495603554; depth 0.00 2020-12-09T06:33:23Z- waiting for 1607495603.33, time is 1607495603.15 2020-12-09T06:33:23Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:23Z- handleDvl() - RDI_Pathfinder msg: 1607495603.57 epoch sec; seqNo:297 2020-12-09T06:33:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 57.88 , 75.94 , 56.96 , 75.33 2020-12-09T06:33:23Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , 0.04 , 0.01 2020-12-09T06:33:23Z- waiting for 1607495603.33, time is 1607495603.57 2020-12-09T06:33:23Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:23Z- LcmTrn::updateTrn() >>>> pose time 1607495603.55, meas time 1607495603.57 <<<< 2020-12-09T06:33:23Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495603.57 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:33:23Z- TerrainNav::motionUpdate() - currEstimate = (4061667, 594537.01, 23.90) 2020-12-09T06:33:23Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:33:23Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:33:23Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:33:23Z- TNavBF::mmse selected from filter -1 2020-12-09T06:33:23Z- variances([0], [2], and psi_berg) = 812.458872 833.135451 0.000000 2020-12-09T06:33:23Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:33:23Z- LcmTrn::cycle() - MLE : 4061633.69 594489.51 23.90 2020-12-09T06:33:23Z- LcmTrn::cycle() - MMSE : 4061667.19 594537.01 23.90 2020-12-09T06:33:23Z- LcmTrn::cycle() - COVAR: 812.46 833.14 34.89 0.00 2020-12-09T06:33:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495603.59 epoch sec; seqNo:555; 4061667.19 north; 594537.01 east 2020-12-09T06:33:23Z- waiting for 1607495606.57, time is 1607495603.57 2020-12-09T06:33:23Z- sync is 0.03, coherence is 2.00 2020-12-09T06:33:23Z- AHRS_M2 msg: 1607495603.95 epoch sec; seqNo:534 2020-12-09T06:33:23Z- AHRS_M2 msg: 4.67 phi; -0.25 theta; -0.22 psi 2020-12-09T06:33:23Z- waiting for 1607495606.57, time is 1607495603.57 2020-12-09T06:33:23Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:24Z- handleDepth()-Depth_Keller msg: 24.00 epoch sec; seqNo:1607495604087; depth 0.00 2020-12-09T06:33:24Z- waiting for 1607495606.57, time is 1607495603.57 2020-12-09T06:33:24Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:24Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:24Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:24Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:24Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:33:24Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:33:24Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:33:24Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:33:24Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:33:24Z- handleDvl() - RDI_Pathfinder msg: 1607495604.09 epoch sec; seqNo:298 2020-12-09T06:33:24Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:33:24Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , 0.04 , 0.01 2020-12-09T06:33:24Z- waiting for 1607495606.57, time is 1607495604.09 2020-12-09T06:33:24Z- sync is 0.14, coherence is 2.00 2020-12-09T06:33:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495604.10 epoch sec; seqNo:556; 4061667.18 north; 594535.79 east 2020-12-09T06:33:24Z- waiting for 1607495606.57, time is 1607495604.09 2020-12-09T06:33:24Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:24Z- AHRS_M2 msg: 1607495604.35 epoch sec; seqNo:535 2020-12-09T06:33:24Z- AHRS_M2 msg: 4.67 phi; -0.25 theta; -0.22 psi 2020-12-09T06:33:24Z- waiting for 1607495606.57, time is 1607495604.09 2020-12-09T06:33:24Z- sync is 0.26, coherence is 2.00 2020-12-09T06:33:24Z- handleDepth()-Depth_Keller msg: 24.12 epoch sec; seqNo:1607495604399; depth 0.00 2020-12-09T06:33:24Z- waiting for 1607495606.57, time is 1607495604.09 2020-12-09T06:33:24Z- sync is 0.26, coherence is 2.00 2020-12-09T06:33:24Z- handleDvl() - RDI_Pathfinder msg: 1607495604.42 epoch sec; seqNo:299 2020-12-09T06:33:24Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 57.57 , 0.00 , 56.65 , 0.00 2020-12-09T06:33:24Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2020-12-09T06:33:24Z- waiting for 1607495606.57, time is 1607495604.42 2020-12-09T06:33:24Z- sync is 0.07, coherence is 2.00 2020-12-09T06:33:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495604.45 epoch sec; seqNo:557; 4061667.18 north; 594535.79 east 2020-12-09T06:33:24Z- waiting for 1607495606.57, time is 1607495604.42 2020-12-09T06:33:24Z- sync is 0.03, coherence is 2.00 2020-12-09T06:33:24Z- AHRS_M2 msg: 1607495604.76 epoch sec; seqNo:536 2020-12-09T06:33:24Z- AHRS_M2 msg: 4.66 phi; -0.25 theta; -0.22 psi 2020-12-09T06:33:24Z- waiting for 1607495606.57, time is 1607495604.42 2020-12-09T06:33:24Z- sync is 0.33, coherence is 2.00 2020-12-09T06:33:24Z- handleDepth()-Depth_Keller msg: 24.20 epoch sec; seqNo:1607495604794; depth 0.00 2020-12-09T06:33:24Z- waiting for 1607495606.57, time is 1607495604.42 2020-12-09T06:33:24Z- sync is 0.33, coherence is 2.00 2020-12-09T06:33:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495604.81 epoch sec; seqNo:558; 4061667.17 north; 594534.57 east 2020-12-09T06:33:24Z- waiting for 1607495606.57, time is 1607495604.42 2020-12-09T06:33:24Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:25Z- AHRS_M2 msg: 1607495605.16 epoch sec; seqNo:537 2020-12-09T06:33:25Z- AHRS_M2 msg: 4.66 phi; -0.25 theta; -0.21 psi 2020-12-09T06:33:25Z- waiting for 1607495606.57, time is 1607495604.42 2020-12-09T06:33:25Z- sync is 0.74, coherence is 2.00 2020-12-09T06:33:25Z- handleDepth()-Depth_Keller msg: 24.28 epoch sec; seqNo:1607495605203; depth 0.00 2020-12-09T06:33:25Z- waiting for 1607495606.57, time is 1607495604.42 2020-12-09T06:33:25Z- sync is 0.74, coherence is 2.00 2020-12-09T06:33:25Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:25Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:25Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:25Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:33:25Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:33:25Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:33:25Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:33:25Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:33:25Z- handleDvl() - RDI_Pathfinder msg: 1607495605.20 epoch sec; seqNo:300 2020-12-09T06:33:25Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:33:25Z- handleDvl() - RDI_Pathfinder msg: velocities -32.77 , -32.77 , -32.77 2020-12-09T06:33:25Z- waiting for 1607495606.57, time is 1607495605.20 2020-12-09T06:33:25Z- sync is 0.04, coherence is 2.00 2020-12-09T06:33:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495605.21 epoch sec; seqNo:559; 4061667.17 north; 594534.57 east 2020-12-09T06:33:25Z- waiting for 1607495606.57, time is 1607495605.20 2020-12-09T06:33:25Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:25Z- AHRS_M2 msg: 1607495605.56 epoch sec; seqNo:538 2020-12-09T06:33:25Z- AHRS_M2 msg: 4.65 phi; -0.25 theta; -0.21 psi 2020-12-09T06:33:25Z- waiting for 1607495606.57, time is 1607495605.20 2020-12-09T06:33:25Z- sync is 0.36, coherence is 2.00 2020-12-09T06:33:25Z- handleDepth()-Depth_Keller msg: 24.37 epoch sec; seqNo:1607495605574; depth 0.00 2020-12-09T06:33:25Z- waiting for 1607495606.57, time is 1607495605.20 2020-12-09T06:33:25Z- sync is 0.36, coherence is 2.00 2020-12-09T06:33:25Z- handleDvl() - RDI_Pathfinder msg: 1607495605.59 epoch sec; seqNo:301 2020-12-09T06:33:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 57.57 , 74.72 , 56.35 , 74.31 2020-12-09T06:33:25Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , 0.12 , 0.08 2020-12-09T06:33:25Z- waiting for 1607495606.57, time is 1607495605.59 2020-12-09T06:33:25Z- sync is 0.03, coherence is 2.00 2020-12-09T06:33:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495605.60 epoch sec; seqNo:560; 4061667.17 north; 594534.57 east 2020-12-09T06:33:25Z- waiting for 1607495606.57, time is 1607495605.59 2020-12-09T06:33:25Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:25Z- AHRS_M2 msg: 1607495605.97 epoch sec; seqNo:539 2020-12-09T06:33:25Z- AHRS_M2 msg: 4.65 phi; -0.25 theta; -0.22 psi 2020-12-09T06:33:25Z- waiting for 1607495606.57, time is 1607495605.59 2020-12-09T06:33:25Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:25Z- handleDepth()-Depth_Keller msg: 24.47 epoch sec; seqNo:1607495605978; depth 0.00 2020-12-09T06:33:25Z- waiting for 1607495606.57, time is 1607495605.59 2020-12-09T06:33:25Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495606.00 epoch sec; seqNo:561; 4061667.15 north; 594533.35 east 2020-12-09T06:33:25Z- waiting for 1607495606.57, time is 1607495605.59 2020-12-09T06:33:25Z- sync is 0.41, coherence is 2.00 2020-12-09T06:33:26Z- AHRS_M2 msg: 1607495606.37 epoch sec; seqNo:540 2020-12-09T06:33:26Z- AHRS_M2 msg: 4.65 phi; -0.25 theta; -0.22 psi 2020-12-09T06:33:26Z- waiting for 1607495606.57, time is 1607495605.59 2020-12-09T06:33:26Z- sync is 0.78, coherence is 2.00 2020-12-09T06:33:26Z- handleDepth()-Depth_Keller msg: 24.56 epoch sec; seqNo:1607495606385; depth 0.00 2020-12-09T06:33:26Z- waiting for 1607495606.57, time is 1607495605.59 2020-12-09T06:33:26Z- sync is 0.78, coherence is 2.00 2020-12-09T06:33:26Z- handleDvl() - RDI_Pathfinder msg: 1607495606.40 epoch sec; seqNo:302 2020-12-09T06:33:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 57.26 , 75.33 , 56.35 , 74.11 2020-12-09T06:33:26Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.09 , 0.12 2020-12-09T06:33:26Z- waiting for 1607495606.57, time is 1607495606.40 2020-12-09T06:33:26Z- sync is 0.03, coherence is 2.00 2020-12-09T06:33:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495606.42 epoch sec; seqNo:562; 4061667.15 north; 594533.35 east 2020-12-09T06:33:26Z- waiting for 1607495606.57, time is 1607495606.40 2020-12-09T06:33:26Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:26Z- handleDepth()-Depth_Keller msg: 24.66 epoch sec; seqNo:1607495606797; depth 0.00 2020-12-09T06:33:26Z- waiting for 1607495606.57, time is 1607495606.40 2020-12-09T06:33:26Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495606.81 epoch sec; seqNo:563; 4061667.15 north; 594533.35 east 2020-12-09T06:33:26Z- waiting for 1607495606.57, time is 1607495606.40 2020-12-09T06:33:26Z- sync is 0.41, coherence is 2.00 2020-12-09T06:33:27Z- AHRS_M2 msg: 1607495607.19 epoch sec; seqNo:541 2020-12-09T06:33:27Z- AHRS_M2 msg: 4.64 phi; -0.25 theta; -0.22 psi 2020-12-09T06:33:27Z- waiting for 1607495606.57, time is 1607495606.40 2020-12-09T06:33:27Z- sync is 0.79, coherence is 2.00 2020-12-09T06:33:27Z- handleDepth()-Depth_Keller msg: 24.75 epoch sec; seqNo:1607495607201; depth 0.00 2020-12-09T06:33:27Z- waiting for 1607495606.57, time is 1607495606.40 2020-12-09T06:33:27Z- sync is 0.79, coherence is 2.00 2020-12-09T06:33:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495607.21 epoch sec; seqNo:564; 4061667.14 north; 594532.12 east 2020-12-09T06:33:27Z- waiting for 1607495606.57, time is 1607495606.40 2020-12-09T06:33:27Z- sync is 0.81, coherence is 2.00 2020-12-09T06:33:27Z- AHRS_M2 msg: 1607495607.59 epoch sec; seqNo:542 2020-12-09T06:33:27Z- AHRS_M2 msg: 4.64 phi; -0.25 theta; -0.23 psi 2020-12-09T06:33:27Z- waiting for 1607495606.57, time is 1607495606.40 2020-12-09T06:33:27Z- sync is 1.20, coherence is 2.00 2020-12-09T06:33:27Z- handleDepth()-Depth_Keller msg: 24.84 epoch sec; seqNo:1607495607603; depth 0.00 2020-12-09T06:33:27Z- waiting for 1607495606.57, time is 1607495606.40 2020-12-09T06:33:27Z- sync is 1.20, coherence is 2.00 2020-12-09T06:33:27Z- handleDvl() - RDI_Pathfinder msg: 1607495607.62 epoch sec; seqNo:303 2020-12-09T06:33:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 56.96 , 75.94 , 56.35 , 0.00 2020-12-09T06:33:27Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.05 , 0.14 2020-12-09T06:33:27Z- waiting for 1607495606.57, time is 1607495607.62 2020-12-09T06:33:27Z- sync is 0.03, coherence is 2.00 2020-12-09T06:33:27Z- LcmTrn::updateTrn() >>>> pose time 1607495607.59, meas time 1607495607.62 <<<< 2020-12-09T06:33:27Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495607.62 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:33:27Z- TerrainNav::motionUpdate() - currEstimate = (4061667, 594532.12, 24.84) 2020-12-09T06:33:27Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:33:27Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:33:27Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:33:27Z- TNavBF::mmse selected from filter -1 2020-12-09T06:33:27Z- variances([0], [2], and psi_berg) = 812.119516 833.134373 0.000000 2020-12-09T06:33:27Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:33:27Z- LcmTrn::cycle() - MLE : 4061633.64 594484.62 24.84 2020-12-09T06:33:27Z- LcmTrn::cycle() - MMSE : 4061667.14 594532.12 24.84 2020-12-09T06:33:27Z- LcmTrn::cycle() - COVAR: 812.12 833.13 35.14 0.00 2020-12-09T06:33:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495607.63 epoch sec; seqNo:565; 4061667.14 north; 594532.12 east 2020-12-09T06:33:27Z- waiting for 1607495610.62, time is 1607495607.62 2020-12-09T06:33:27Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:27Z- AHRS_M2 msg: 1607495607.99 epoch sec; seqNo:543 2020-12-09T06:33:27Z- AHRS_M2 msg: 4.63 phi; -0.25 theta; -0.23 psi 2020-12-09T06:33:27Z- waiting for 1607495610.62, time is 1607495607.62 2020-12-09T06:33:27Z- sync is 0.37, coherence is 2.00 2020-12-09T06:33:27Z- handleDepth()-Depth_Keller msg: 24.93 epoch sec; seqNo:1607495607995; depth 0.00 2020-12-09T06:33:27Z- waiting for 1607495610.62, time is 1607495607.62 2020-12-09T06:33:27Z- sync is 0.37, coherence is 2.00 2020-12-09T06:33:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495608.01 epoch sec; seqNo:566; 4061667.14 north; 594532.12 east 2020-12-09T06:33:28Z- waiting for 1607495610.62, time is 1607495607.62 2020-12-09T06:33:28Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:28Z- AHRS_M2 msg: 1607495608.39 epoch sec; seqNo:544 2020-12-09T06:33:28Z- AHRS_M2 msg: 4.64 phi; -0.25 theta; -0.23 psi 2020-12-09T06:33:28Z- waiting for 1607495610.62, time is 1607495607.62 2020-12-09T06:33:28Z- sync is 0.77, coherence is 2.00 2020-12-09T06:33:28Z- handleDepth()-Depth_Keller msg: 25.01 epoch sec; seqNo:1607495608399; depth 0.00 2020-12-09T06:33:28Z- waiting for 1607495610.62, time is 1607495607.62 2020-12-09T06:33:28Z- sync is 0.77, coherence is 2.00 2020-12-09T06:33:28Z- handleDvl() - RDI_Pathfinder msg: 1607495608.41 epoch sec; seqNo:304 2020-12-09T06:33:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 56.97 , 75.77 , 56.40 , 74.62 2020-12-09T06:33:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.03 , 0.13 2020-12-09T06:33:28Z- waiting for 1607495610.62, time is 1607495608.41 2020-12-09T06:33:28Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495608.42 epoch sec; seqNo:567; 4061667.14 north; 594532.12 east 2020-12-09T06:33:28Z- waiting for 1607495610.62, time is 1607495608.41 2020-12-09T06:33:28Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:28Z- AHRS_M2 msg: 1607495608.80 epoch sec; seqNo:545 2020-12-09T06:33:28Z- AHRS_M2 msg: 4.64 phi; -0.25 theta; -0.23 psi 2020-12-09T06:33:28Z- waiting for 1607495610.62, time is 1607495608.41 2020-12-09T06:33:28Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:28Z- handleDepth()-Depth_Keller msg: 25.12 epoch sec; seqNo:1607495608809; depth 0.00 2020-12-09T06:33:28Z- waiting for 1607495610.62, time is 1607495608.41 2020-12-09T06:33:28Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:28Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:28Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:28Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:28Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:33:28Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:33:28Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:33:28Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:33:28Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:33:28Z- handleDvl() - RDI_Pathfinder msg: 1607495608.81 epoch sec; seqNo:305 2020-12-09T06:33:28Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:33:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.03 , 0.13 2020-12-09T06:33:28Z- waiting for 1607495610.62, time is 1607495608.81 2020-12-09T06:33:28Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495608.83 epoch sec; seqNo:568; 4061667.13 north; 594530.90 east 2020-12-09T06:33:28Z- waiting for 1607495610.62, time is 1607495608.81 2020-12-09T06:33:28Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:29Z- AHRS_M2 msg: 1607495609.20 epoch sec; seqNo:546 2020-12-09T06:33:29Z- AHRS_M2 msg: 4.64 phi; -0.26 theta; -0.23 psi 2020-12-09T06:33:29Z- waiting for 1607495610.62, time is 1607495608.81 2020-12-09T06:33:29Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:29Z- handleDepth()-Depth_Keller msg: 25.20 epoch sec; seqNo:1607495609206; depth 0.00 2020-12-09T06:33:29Z- waiting for 1607495610.62, time is 1607495608.81 2020-12-09T06:33:29Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495609.22 epoch sec; seqNo:569; 4061667.13 north; 594530.90 east 2020-12-09T06:33:29Z- waiting for 1607495610.62, time is 1607495608.81 2020-12-09T06:33:29Z- sync is 0.41, coherence is 2.00 2020-12-09T06:33:29Z- AHRS_M2 msg: 1607495609.61 epoch sec; seqNo:547 2020-12-09T06:33:29Z- AHRS_M2 msg: 4.65 phi; -0.26 theta; -0.23 psi 2020-12-09T06:33:29Z- waiting for 1607495610.62, time is 1607495608.81 2020-12-09T06:33:29Z- sync is 0.80, coherence is 2.00 2020-12-09T06:33:29Z- handleDepth()-Depth_Keller msg: 25.28 epoch sec; seqNo:1607495609616; depth 0.00 2020-12-09T06:33:29Z- waiting for 1607495610.62, time is 1607495608.81 2020-12-09T06:33:29Z- sync is 0.80, coherence is 2.00 2020-12-09T06:33:29Z- handleDvl() - RDI_Pathfinder msg: 1607495609.63 epoch sec; seqNo:306 2020-12-09T06:33:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 56.96 , 75.03 , 56.35 , 74.41 2020-12-09T06:33:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.07 , 0.09 2020-12-09T06:33:29Z- waiting for 1607495610.62, time is 1607495609.63 2020-12-09T06:33:29Z- sync is 0.03, coherence is 2.00 2020-12-09T06:33:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495609.64 epoch sec; seqNo:570; 4061667.13 north; 594530.90 east 2020-12-09T06:33:29Z- waiting for 1607495610.62, time is 1607495609.63 2020-12-09T06:33:29Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:30Z- AHRS_M2 msg: 1607495610.01 epoch sec; seqNo:548 2020-12-09T06:33:30Z- AHRS_M2 msg: 4.65 phi; -0.26 theta; -0.23 psi 2020-12-09T06:33:30Z- waiting for 1607495610.62, time is 1607495609.63 2020-12-09T06:33:30Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:30Z- handleDepth()-Depth_Keller msg: 25.39 epoch sec; seqNo:1607495610018; depth 0.00 2020-12-09T06:33:30Z- waiting for 1607495610.62, time is 1607495609.63 2020-12-09T06:33:30Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:30Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:30Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:30Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:30Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:33:30Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:33:30Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:33:30Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:33:30Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:33:30Z- handleDvl() - RDI_Pathfinder msg: 1607495610.02 epoch sec; seqNo:307 2020-12-09T06:33:30Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:33:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.07 , 0.09 2020-12-09T06:33:30Z- waiting for 1607495610.62, time is 1607495610.02 2020-12-09T06:33:30Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495610.03 epoch sec; seqNo:571; 4061667.11 north; 594529.68 east 2020-12-09T06:33:30Z- waiting for 1607495610.62, time is 1607495610.02 2020-12-09T06:33:30Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:30Z- AHRS_M2 msg: 1607495610.41 epoch sec; seqNo:549 2020-12-09T06:33:30Z- AHRS_M2 msg: 4.66 phi; -0.26 theta; -0.23 psi 2020-12-09T06:33:30Z- waiting for 1607495610.62, time is 1607495610.02 2020-12-09T06:33:30Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:30Z- handleDepth()-Depth_Keller msg: 25.46 epoch sec; seqNo:1607495610420; depth 0.00 2020-12-09T06:33:30Z- waiting for 1607495610.62, time is 1607495610.02 2020-12-09T06:33:30Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:30Z- handleDvl() - RDI_Pathfinder msg: 1607495610.43 epoch sec; seqNo:308 2020-12-09T06:33:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 56.65 , 75.03 , 56.04 , 73.80 2020-12-09T06:33:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.08 , 0.02 2020-12-09T06:33:30Z- waiting for 1607495610.62, time is 1607495610.43 2020-12-09T06:33:30Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495610.45 epoch sec; seqNo:572; 4061667.11 north; 594529.68 east 2020-12-09T06:33:30Z- waiting for 1607495610.62, time is 1607495610.43 2020-12-09T06:33:30Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:30Z- AHRS_M2 msg: 1607495610.82 epoch sec; seqNo:550 2020-12-09T06:33:30Z- AHRS_M2 msg: 4.66 phi; -0.26 theta; -0.22 psi 2020-12-09T06:33:30Z- waiting for 1607495610.62, time is 1607495610.43 2020-12-09T06:33:30Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:30Z- handleDepth()-Depth_Keller msg: 25.54 epoch sec; seqNo:1607495610823; depth 0.00 2020-12-09T06:33:30Z- waiting for 1607495610.62, time is 1607495610.43 2020-12-09T06:33:30Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495610.85 epoch sec; seqNo:573; 4061667.11 north; 594529.68 east 2020-12-09T06:33:30Z- waiting for 1607495610.62, time is 1607495610.43 2020-12-09T06:33:30Z- sync is 0.41, coherence is 2.00 2020-12-09T06:33:31Z- AHRS_M2 msg: 1607495611.22 epoch sec; seqNo:551 2020-12-09T06:33:31Z- AHRS_M2 msg: 4.67 phi; -0.25 theta; -0.22 psi 2020-12-09T06:33:31Z- waiting for 1607495610.62, time is 1607495610.43 2020-12-09T06:33:31Z- sync is 0.79, coherence is 2.00 2020-12-09T06:33:31Z- handleDepth()-Depth_Keller msg: 25.61 epoch sec; seqNo:1607495611231; depth 0.00 2020-12-09T06:33:31Z- waiting for 1607495610.62, time is 1607495610.43 2020-12-09T06:33:31Z- sync is 0.79, coherence is 2.00 2020-12-09T06:33:31Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:31Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:31Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:31Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:33:31Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:33:31Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:33:31Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:33:31Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:33:31Z- handleDvl() - RDI_Pathfinder msg: 1607495611.23 epoch sec; seqNo:309 2020-12-09T06:33:31Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:33:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.08 , 0.02 2020-12-09T06:33:31Z- waiting for 1607495610.62, time is 1607495611.23 2020-12-09T06:33:31Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:31Z- LcmTrn::updateTrn() >>>> pose time 1607495611.22, meas time 1607495611.23 <<<< 2020-12-09T06:33:31Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495611.23, ping # 0. 2020-12-09T06:33:31Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495611.23 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:33:31Z- TerrainNav::motionUpdate() - currEstimate = (4061667, 594529.68, 25.61) 2020-12-09T06:33:31Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:33:31Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:33:31Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:33:31Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:33:31Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:33:31Z- TNavBF::mmse selected from filter -1 2020-12-09T06:33:31Z- variances([0], [2], and psi_berg) = 811.881783 833.133627 0.000000 2020-12-09T06:33:31Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:33:31Z- LcmTrn::cycle() - MLE : 4061633.61 594482.18 25.61 2020-12-09T06:33:31Z- LcmTrn::cycle() - MMSE : 4061667.11 594529.68 25.61 2020-12-09T06:33:31Z- LcmTrn::cycle() - COVAR: 811.88 833.13 35.27 0.00 2020-12-09T06:33:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495611.27 epoch sec; seqNo:574; 4061667.10 north; 594528.46 east 2020-12-09T06:33:31Z- waiting for 1607495614.23, time is 1607495611.23 2020-12-09T06:33:31Z- sync is 0.04, coherence is 2.00 2020-12-09T06:33:31Z- AHRS_M2 msg: 1607495611.62 epoch sec; seqNo:552 2020-12-09T06:33:31Z- AHRS_M2 msg: 4.67 phi; -0.25 theta; -0.22 psi 2020-12-09T06:33:31Z- waiting for 1607495614.23, time is 1607495611.23 2020-12-09T06:33:31Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:31Z- handleDepth()-Depth_Keller msg: 25.70 epoch sec; seqNo:1607495611631; depth 0.00 2020-12-09T06:33:31Z- waiting for 1607495614.23, time is 1607495611.23 2020-12-09T06:33:31Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:31Z- handleDvl() - RDI_Pathfinder msg: 1607495611.65 epoch sec; seqNo:310 2020-12-09T06:33:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 56.65 , 0.00 , 56.04 , 74.41 2020-12-09T06:33:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.05 , -0.05 2020-12-09T06:33:31Z- waiting for 1607495614.23, time is 1607495611.65 2020-12-09T06:33:31Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495611.67 epoch sec; seqNo:575; 4061666.72 north; 594528.47 east 2020-12-09T06:33:31Z- waiting for 1607495614.23, time is 1607495611.65 2020-12-09T06:33:31Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:32Z- AHRS_M2 msg: 1607495612.03 epoch sec; seqNo:553 2020-12-09T06:33:32Z- AHRS_M2 msg: 4.68 phi; -0.25 theta; -0.21 psi 2020-12-09T06:33:32Z- waiting for 1607495614.23, time is 1607495611.65 2020-12-09T06:33:32Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:32Z- handleDepth()-Depth_Keller msg: 25.79 epoch sec; seqNo:1607495612036; depth 0.00 2020-12-09T06:33:32Z- waiting for 1607495614.23, time is 1607495611.65 2020-12-09T06:33:32Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495612.05 epoch sec; seqNo:576; 4061666.72 north; 594528.47 east 2020-12-09T06:33:32Z- waiting for 1607495614.23, time is 1607495611.65 2020-12-09T06:33:32Z- sync is 0.40, coherence is 2.00 2020-12-09T06:33:32Z- AHRS_M2 msg: 1607495612.43 epoch sec; seqNo:554 2020-12-09T06:33:32Z- AHRS_M2 msg: 4.68 phi; -0.25 theta; -0.21 psi 2020-12-09T06:33:32Z- waiting for 1607495614.23, time is 1607495611.65 2020-12-09T06:33:32Z- sync is 0.79, coherence is 2.00 2020-12-09T06:33:32Z- handleDepth()-Depth_Keller msg: 25.86 epoch sec; seqNo:1607495612439; depth 0.00 2020-12-09T06:33:32Z- waiting for 1607495614.23, time is 1607495611.65 2020-12-09T06:33:32Z- sync is 0.79, coherence is 2.00 2020-12-09T06:33:32Z- handleDvl() - RDI_Pathfinder msg: 1607495612.46 epoch sec; seqNo:311 2020-12-09T06:33:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 56.40 , 72.88 , 55.24 , 73.17 2020-12-09T06:33:32Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.02 , -0.09 2020-12-09T06:33:32Z- waiting for 1607495614.23, time is 1607495612.46 2020-12-09T06:33:32Z- sync is 0.03, coherence is 2.00 2020-12-09T06:33:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495612.48 epoch sec; seqNo:577; 4061666.72 north; 594528.47 east 2020-12-09T06:33:32Z- waiting for 1607495614.23, time is 1607495612.46 2020-12-09T06:33:32Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:32Z- AHRS_M2 msg: 1607495612.84 epoch sec; seqNo:555 2020-12-09T06:33:32Z- AHRS_M2 msg: 4.68 phi; -0.25 theta; -0.21 psi 2020-12-09T06:33:32Z- waiting for 1607495614.23, time is 1607495612.46 2020-12-09T06:33:32Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:32Z- handleDepth()-Depth_Keller msg: 25.96 epoch sec; seqNo:1607495612849; depth 0.00 2020-12-09T06:33:32Z- waiting for 1607495614.23, time is 1607495612.46 2020-12-09T06:33:32Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495612.97 epoch sec; seqNo:578; 4061666.71 north; 594527.25 east 2020-12-09T06:33:32Z- waiting for 1607495614.23, time is 1607495612.46 2020-12-09T06:33:32Z- sync is 0.51, coherence is 2.00 2020-12-09T06:33:33Z- AHRS_M2 msg: 1607495613.24 epoch sec; seqNo:556 2020-12-09T06:33:33Z- AHRS_M2 msg: 4.69 phi; -0.25 theta; -0.20 psi 2020-12-09T06:33:33Z- waiting for 1607495614.23, time is 1607495612.46 2020-12-09T06:33:33Z- sync is 0.78, coherence is 2.00 2020-12-09T06:33:33Z- handleDepth()-Depth_Keller msg: 26.03 epoch sec; seqNo:1607495613259; depth 0.00 2020-12-09T06:33:33Z- waiting for 1607495614.23, time is 1607495612.46 2020-12-09T06:33:33Z- sync is 0.78, coherence is 2.00 2020-12-09T06:33:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495613.31 epoch sec; seqNo:579; 4061666.71 north; 594527.25 east 2020-12-09T06:33:33Z- waiting for 1607495614.23, time is 1607495612.46 2020-12-09T06:33:33Z- sync is 0.85, coherence is 2.00 2020-12-09T06:33:33Z- handleDepth()-Depth_Keller msg: 26.12 epoch sec; seqNo:1607495613674; depth 0.00 2020-12-09T06:33:33Z- waiting for 1607495614.23, time is 1607495612.46 2020-12-09T06:33:33Z- sync is 0.85, coherence is 2.00 2020-12-09T06:33:33Z- handleDvl() - RDI_Pathfinder msg: 1607495613.69 epoch sec; seqNo:312 2020-12-09T06:33:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 56.35 , 72.27 , 54.81 , 72.88 2020-12-09T06:33:33Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , 0.03 , -0.12 2020-12-09T06:33:33Z- waiting for 1607495614.23, time is 1607495613.69 2020-12-09T06:33:33Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495613.71 epoch sec; seqNo:580; 4061666.69 north; 594526.03 east 2020-12-09T06:33:33Z- waiting for 1607495614.23, time is 1607495613.69 2020-12-09T06:33:33Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:34Z- AHRS_M2 msg: 1607495614.06 epoch sec; seqNo:557 2020-12-09T06:33:34Z- AHRS_M2 msg: 4.69 phi; -0.25 theta; -0.20 psi 2020-12-09T06:33:34Z- waiting for 1607495614.23, time is 1607495613.69 2020-12-09T06:33:34Z- sync is 0.37, coherence is 2.00 2020-12-09T06:33:34Z- handleDepth()-Depth_Keller msg: 26.22 epoch sec; seqNo:1607495614066; depth 0.00 2020-12-09T06:33:34Z- waiting for 1607495614.23, time is 1607495613.69 2020-12-09T06:33:34Z- sync is 0.37, coherence is 2.00 2020-12-09T06:33:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495614.08 epoch sec; seqNo:581; 4061666.69 north; 594526.03 east 2020-12-09T06:33:34Z- waiting for 1607495614.23, time is 1607495613.69 2020-12-09T06:33:34Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:34Z- AHRS_M2 msg: 1607495614.46 epoch sec; seqNo:558 2020-12-09T06:33:34Z- AHRS_M2 msg: 4.69 phi; -0.25 theta; -0.20 psi 2020-12-09T06:33:34Z- waiting for 1607495614.23, time is 1607495613.69 2020-12-09T06:33:34Z- sync is 0.77, coherence is 2.00 2020-12-09T06:33:34Z- handleDepth()-Depth_Keller msg: 26.28 epoch sec; seqNo:1607495614464; depth 0.00 2020-12-09T06:33:34Z- waiting for 1607495614.23, time is 1607495613.69 2020-12-09T06:33:34Z- sync is 0.77, coherence is 2.00 2020-12-09T06:33:34Z- handleDvl() - RDI_Pathfinder msg: 1607495614.48 epoch sec; seqNo:313 2020-12-09T06:33:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 56.04 , 71.66 , 54.51 , 72.27 2020-12-09T06:33:34Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , 0.06 , -0.11 2020-12-09T06:33:34Z- waiting for 1607495614.23, time is 1607495614.48 2020-12-09T06:33:34Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:34Z- LcmTrn::updateTrn() >>>> pose time 1607495614.46, meas time 1607495614.48 <<<< 2020-12-09T06:33:34Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495614.48 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:33:34Z- TerrainNav::motionUpdate() - currEstimate = (4061667, 594526.03, 26.28) 2020-12-09T06:33:34Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:33:34Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:33:34Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:33:34Z- TNavBF::mmse selected from filter -1 2020-12-09T06:33:34Z- variances([0], [2], and psi_berg) = 811.591709 833.132725 0.000000 2020-12-09T06:33:34Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:33:34Z- LcmTrn::cycle() - MLE : 4061633.19 594478.53 26.28 2020-12-09T06:33:34Z- LcmTrn::cycle() - MMSE : 4061666.69 594526.03 26.28 2020-12-09T06:33:34Z- LcmTrn::cycle() - COVAR: 811.59 833.13 35.46 0.00 2020-12-09T06:33:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495614.50 epoch sec; seqNo:582; 4061666.69 north; 594526.03 east 2020-12-09T06:33:34Z- waiting for 1607495617.48, time is 1607495614.48 2020-12-09T06:33:34Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:34Z- AHRS_M2 msg: 1607495614.86 epoch sec; seqNo:559 2020-12-09T06:33:34Z- AHRS_M2 msg: 4.69 phi; -0.25 theta; -0.20 psi 2020-12-09T06:33:34Z- waiting for 1607495617.48, time is 1607495614.48 2020-12-09T06:33:34Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:34Z- handleDepth()-Depth_Keller msg: 26.38 epoch sec; seqNo:1607495614864; depth 0.00 2020-12-09T06:33:34Z- waiting for 1607495617.48, time is 1607495614.48 2020-12-09T06:33:34Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:34Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:34Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:34Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:34Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:33:34Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:33:34Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:33:34Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:33:34Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:33:34Z- handleDvl() - RDI_Pathfinder msg: 1607495614.87 epoch sec; seqNo:314 2020-12-09T06:33:34Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:33:34Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , 0.06 , -0.11 2020-12-09T06:33:34Z- waiting for 1607495617.48, time is 1607495614.87 2020-12-09T06:33:34Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495614.88 epoch sec; seqNo:583; 4061666.68 north; 594524.81 east 2020-12-09T06:33:34Z- waiting for 1607495617.48, time is 1607495614.87 2020-12-09T06:33:34Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:35Z- AHRS_M2 msg: 1607495615.29 epoch sec; seqNo:560 2020-12-09T06:33:35Z- AHRS_M2 msg: 4.69 phi; -0.25 theta; -0.20 psi 2020-12-09T06:33:35Z- waiting for 1607495617.48, time is 1607495614.87 2020-12-09T06:33:35Z- sync is 0.42, coherence is 2.00 2020-12-09T06:33:35Z- handleDepth()-Depth_Keller msg: 26.44 epoch sec; seqNo:1607495615296; depth 0.00 2020-12-09T06:33:35Z- waiting for 1607495617.48, time is 1607495614.87 2020-12-09T06:33:35Z- sync is 0.42, coherence is 2.00 2020-12-09T06:33:35Z- handleDvl() - RDI_Pathfinder msg: 1607495615.33 epoch sec; seqNo:315 2020-12-09T06:33:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 56.04 , 71.04 , 54.51 , 72.27 2020-12-09T06:33:35Z- handleDvl() - RDI_Pathfinder msg: velocities 1.13 , 0.09 , -0.06 2020-12-09T06:33:35Z- waiting for 1607495617.48, time is 1607495615.33 2020-12-09T06:33:35Z- sync is 0.04, coherence is 2.00 2020-12-09T06:33:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495615.34 epoch sec; seqNo:584; 4061666.68 north; 594524.81 east 2020-12-09T06:33:35Z- waiting for 1607495617.48, time is 1607495615.33 2020-12-09T06:33:35Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:35Z- AHRS_M2 msg: 1607495615.66 epoch sec; seqNo:561 2020-12-09T06:33:35Z- AHRS_M2 msg: 4.69 phi; -0.25 theta; -0.20 psi 2020-12-09T06:33:35Z- waiting for 1607495617.48, time is 1607495615.33 2020-12-09T06:33:35Z- sync is 0.34, coherence is 2.00 2020-12-09T06:33:35Z- handleDepth()-Depth_Keller msg: 26.54 epoch sec; seqNo:1607495615681; depth 0.00 2020-12-09T06:33:35Z- waiting for 1607495617.48, time is 1607495615.33 2020-12-09T06:33:35Z- sync is 0.34, coherence is 2.00 2020-12-09T06:33:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495615.69 epoch sec; seqNo:585; 4061666.68 north; 594524.81 east 2020-12-09T06:33:35Z- waiting for 1607495617.48, time is 1607495615.33 2020-12-09T06:33:35Z- sync is 0.37, coherence is 2.00 2020-12-09T06:33:36Z- AHRS_M2 msg: 1607495616.07 epoch sec; seqNo:562 2020-12-09T06:33:36Z- AHRS_M2 msg: 4.69 phi; -0.25 theta; -0.20 psi 2020-12-09T06:33:36Z- waiting for 1607495617.48, time is 1607495615.33 2020-12-09T06:33:36Z- sync is 0.74, coherence is 2.00 2020-12-09T06:33:36Z- handleDepth()-Depth_Keller msg: 26.63 epoch sec; seqNo:1607495616075; depth 0.00 2020-12-09T06:33:36Z- waiting for 1607495617.48, time is 1607495615.33 2020-12-09T06:33:36Z- sync is 0.74, coherence is 2.00 2020-12-09T06:33:36Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:36Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:36Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:36Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:33:36Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:33:36Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:33:36Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:33:36Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:33:36Z- handleDvl() - RDI_Pathfinder msg: 1607495616.08 epoch sec; seqNo:316 2020-12-09T06:33:36Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:33:36Z- handleDvl() - RDI_Pathfinder msg: velocities 1.13 , 0.09 , -0.06 2020-12-09T06:33:36Z- waiting for 1607495617.48, time is 1607495616.08 2020-12-09T06:33:36Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495616.09 epoch sec; seqNo:586; 4061666.67 north; 594523.59 east 2020-12-09T06:33:36Z- waiting for 1607495617.48, time is 1607495616.08 2020-12-09T06:33:36Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:36Z- AHRS_M2 msg: 1607495616.47 epoch sec; seqNo:563 2020-12-09T06:33:36Z- AHRS_M2 msg: 4.69 phi; -0.25 theta; -0.20 psi 2020-12-09T06:33:36Z- waiting for 1607495617.48, time is 1607495616.08 2020-12-09T06:33:36Z- sync is 0.40, coherence is 2.00 2020-12-09T06:33:36Z- handleDepth()-Depth_Keller msg: 26.71 epoch sec; seqNo:1607495616482; depth 0.00 2020-12-09T06:33:36Z- waiting for 1607495617.48, time is 1607495616.08 2020-12-09T06:33:36Z- sync is 0.40, coherence is 2.00 2020-12-09T06:33:36Z- handleDvl() - RDI_Pathfinder msg: 1607495616.49 epoch sec; seqNo:317 2020-12-09T06:33:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 55.24 , 71.15 , 54.08 , 72.01 2020-12-09T06:33:36Z- handleDvl() - RDI_Pathfinder msg: velocities 1.15 , 0.08 , 0.02 2020-12-09T06:33:36Z- waiting for 1607495617.48, time is 1607495616.49 2020-12-09T06:33:36Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495616.52 epoch sec; seqNo:587; 4061666.67 north; 594523.59 east 2020-12-09T06:33:36Z- waiting for 1607495617.48, time is 1607495616.49 2020-12-09T06:33:36Z- sync is 0.03, coherence is 2.00 2020-12-09T06:33:36Z- AHRS_M2 msg: 1607495616.88 epoch sec; seqNo:564 2020-12-09T06:33:36Z- AHRS_M2 msg: 4.69 phi; -0.25 theta; -0.20 psi 2020-12-09T06:33:36Z- waiting for 1607495617.48, time is 1607495616.49 2020-12-09T06:33:36Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:36Z- handleDepth()-Depth_Keller msg: 26.80 epoch sec; seqNo:1607495616884; depth 0.00 2020-12-09T06:33:36Z- waiting for 1607495617.48, time is 1607495616.49 2020-12-09T06:33:36Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495616.90 epoch sec; seqNo:588; 4061666.67 north; 594523.59 east 2020-12-09T06:33:36Z- waiting for 1607495617.48, time is 1607495616.49 2020-12-09T06:33:36Z- sync is 0.40, coherence is 2.00 2020-12-09T06:33:37Z- AHRS_M2 msg: 1607495617.29 epoch sec; seqNo:565 2020-12-09T06:33:37Z- AHRS_M2 msg: 4.69 phi; -0.25 theta; -0.21 psi 2020-12-09T06:33:37Z- waiting for 1607495617.48, time is 1607495616.49 2020-12-09T06:33:37Z- sync is 0.80, coherence is 2.00 2020-12-09T06:33:37Z- handleDepth()-Depth_Keller msg: 26.89 epoch sec; seqNo:1607495617373; depth 0.00 2020-12-09T06:33:37Z- waiting for 1607495617.48, time is 1607495616.49 2020-12-09T06:33:37Z- sync is 0.80, coherence is 2.00 2020-12-09T06:33:37Z- handleDvl() - RDI_Pathfinder msg: 1607495617.39 epoch sec; seqNo:318 2020-12-09T06:33:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 55.24 , 71.15 , 53.79 , 71.72 2020-12-09T06:33:37Z- handleDvl() - RDI_Pathfinder msg: velocities 1.16 , 0.05 , 0.11 2020-12-09T06:33:37Z- waiting for 1607495617.48, time is 1607495617.39 2020-12-09T06:33:37Z- sync is 0.10, coherence is 2.00 2020-12-09T06:33:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495617.41 epoch sec; seqNo:589; 4061667.03 north; 594522.36 east 2020-12-09T06:33:37Z- waiting for 1607495617.48, time is 1607495617.39 2020-12-09T06:33:37Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:37Z- AHRS_M2 msg: 1607495617.68 epoch sec; seqNo:566 2020-12-09T06:33:37Z- AHRS_M2 msg: 4.68 phi; -0.25 theta; -0.21 psi 2020-12-09T06:33:37Z- waiting for 1607495617.48, time is 1607495617.39 2020-12-09T06:33:37Z- sync is 0.30, coherence is 2.00 2020-12-09T06:33:37Z- handleDepth()-Depth_Keller msg: 27.01 epoch sec; seqNo:1607495617789; depth 0.00 2020-12-09T06:33:37Z- waiting for 1607495617.48, time is 1607495617.39 2020-12-09T06:33:37Z- sync is 0.30, coherence is 2.00 2020-12-09T06:33:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495617.80 epoch sec; seqNo:590; 4061667.03 north; 594522.36 east 2020-12-09T06:33:37Z- waiting for 1607495617.48, time is 1607495617.39 2020-12-09T06:33:37Z- sync is 0.41, coherence is 2.00 2020-12-09T06:33:38Z- AHRS_M2 msg: 1607495618.09 epoch sec; seqNo:567 2020-12-09T06:33:38Z- AHRS_M2 msg: 4.68 phi; -0.25 theta; -0.21 psi 2020-12-09T06:33:38Z- waiting for 1607495617.48, time is 1607495617.39 2020-12-09T06:33:38Z- sync is 0.70, coherence is 2.00 2020-12-09T06:33:38Z- handleDepth()-Depth_Keller msg: 27.09 epoch sec; seqNo:1607495618115; depth 0.00 2020-12-09T06:33:38Z- waiting for 1607495617.48, time is 1607495617.39 2020-12-09T06:33:38Z- sync is 0.70, coherence is 2.00 2020-12-09T06:33:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495618.12 epoch sec; seqNo:591; 4061667.02 north; 594521.14 east 2020-12-09T06:33:38Z- waiting for 1607495617.48, time is 1607495617.39 2020-12-09T06:33:38Z- sync is 0.74, coherence is 2.00 2020-12-09T06:33:38Z- AHRS_M2 msg: 1607495618.49 epoch sec; seqNo:568 2020-12-09T06:33:38Z- AHRS_M2 msg: 4.68 phi; -0.25 theta; -0.21 psi 2020-12-09T06:33:38Z- waiting for 1607495617.48, time is 1607495617.39 2020-12-09T06:33:38Z- sync is 1.11, coherence is 2.00 2020-12-09T06:33:38Z- handleDepth()-Depth_Keller msg: 27.18 epoch sec; seqNo:1607495618542; depth 0.00 2020-12-09T06:33:38Z- waiting for 1607495617.48, time is 1607495617.39 2020-12-09T06:33:38Z- sync is 1.11, coherence is 2.00 2020-12-09T06:33:38Z- handleDvl() - RDI_Pathfinder msg: 1607495618.57 epoch sec; seqNo:319 2020-12-09T06:33:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 54.95 , 0.00 , 54.08 , 71.44 2020-12-09T06:33:38Z- handleDvl() - RDI_Pathfinder msg: velocities 1.13 , 0.01 , 0.20 2020-12-09T06:33:38Z- waiting for 1607495617.48, time is 1607495618.57 2020-12-09T06:33:38Z- sync is 0.07, coherence is 2.00 2020-12-09T06:33:38Z- LcmTrn::updateTrn() >>>> pose time 1607495618.49, meas time 1607495618.57 <<<< 2020-12-09T06:33:38Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495618.57 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:33:38Z- TerrainNav::motionUpdate() - currEstimate = (4061667, 594521.14, 27.18) 2020-12-09T06:33:38Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:33:38Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:33:38Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:33:38Z- TNavBF::mmse selected from filter -1 2020-12-09T06:33:38Z- variances([0], [2], and psi_berg) = 811.259752 833.131704 0.000000 2020-12-09T06:33:38Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:33:38Z- LcmTrn::cycle() - MLE : 4061633.52 594473.64 27.18 2020-12-09T06:33:38Z- LcmTrn::cycle() - MMSE : 4061667.02 594521.14 27.18 2020-12-09T06:33:38Z- LcmTrn::cycle() - COVAR: 811.26 833.13 35.71 0.00 2020-12-09T06:33:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495618.58 epoch sec; seqNo:592; 4061667.02 north; 594521.14 east 2020-12-09T06:33:38Z- waiting for 1607495621.57, time is 1607495618.57 2020-12-09T06:33:38Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:38Z- AHRS_M2 msg: 1607495618.90 epoch sec; seqNo:569 2020-12-09T06:33:38Z- AHRS_M2 msg: 4.68 phi; -0.25 theta; -0.21 psi 2020-12-09T06:33:38Z- waiting for 1607495621.57, time is 1607495618.57 2020-12-09T06:33:38Z- sync is 0.33, coherence is 2.00 2020-12-09T06:33:38Z- handleDepth()-Depth_Keller msg: 27.29 epoch sec; seqNo:1607495618923; depth 0.00 2020-12-09T06:33:38Z- waiting for 1607495621.57, time is 1607495618.57 2020-12-09T06:33:38Z- sync is 0.33, coherence is 2.00 2020-12-09T06:33:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495618.94 epoch sec; seqNo:593; 4061667.02 north; 594521.14 east 2020-12-09T06:33:38Z- waiting for 1607495621.57, time is 1607495618.57 2020-12-09T06:33:38Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:39Z- AHRS_M2 msg: 1607495619.30 epoch sec; seqNo:570 2020-12-09T06:33:39Z- AHRS_M2 msg: 4.67 phi; -0.25 theta; -0.21 psi 2020-12-09T06:33:39Z- waiting for 1607495621.57, time is 1607495618.57 2020-12-09T06:33:39Z- sync is 0.73, coherence is 2.00 2020-12-09T06:33:39Z- handleDepth()-Depth_Keller msg: 27.38 epoch sec; seqNo:1607495619314; depth 0.00 2020-12-09T06:33:39Z- waiting for 1607495621.57, time is 1607495618.57 2020-12-09T06:33:39Z- sync is 0.73, coherence is 2.00 2020-12-09T06:33:39Z- handleDvl() - RDI_Pathfinder msg: 1607495619.33 epoch sec; seqNo:320 2020-12-09T06:33:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 54.66 , 71.15 , 53.79 , 71.15 2020-12-09T06:33:39Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , -0.04 , 0.27 2020-12-09T06:33:39Z- waiting for 1607495621.57, time is 1607495619.33 2020-12-09T06:33:39Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495619.36 epoch sec; seqNo:594; 4061667.00 north; 594519.92 east 2020-12-09T06:33:39Z- waiting for 1607495621.57, time is 1607495619.33 2020-12-09T06:33:39Z- sync is 0.04, coherence is 2.00 2020-12-09T06:33:39Z- AHRS_M2 msg: 1607495619.71 epoch sec; seqNo:571 2020-12-09T06:33:39Z- AHRS_M2 msg: 4.67 phi; -0.25 theta; -0.21 psi 2020-12-09T06:33:39Z- waiting for 1607495621.57, time is 1607495619.33 2020-12-09T06:33:39Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:39Z- handleDepth()-Depth_Keller msg: 27.47 epoch sec; seqNo:1607495619714; depth 0.00 2020-12-09T06:33:39Z- waiting for 1607495621.57, time is 1607495619.33 2020-12-09T06:33:39Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:39Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:39Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:39Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:39Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:33:39Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:33:39Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:33:39Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:33:39Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:33:39Z- handleDvl() - RDI_Pathfinder msg: 1607495619.72 epoch sec; seqNo:321 2020-12-09T06:33:39Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:33:39Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , -0.04 , 0.27 2020-12-09T06:33:39Z- waiting for 1607495621.57, time is 1607495619.72 2020-12-09T06:33:39Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495619.73 epoch sec; seqNo:595; 4061667.00 north; 594519.92 east 2020-12-09T06:33:39Z- waiting for 1607495621.57, time is 1607495619.72 2020-12-09T06:33:39Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:40Z- AHRS_M2 msg: 1607495620.12 epoch sec; seqNo:572 2020-12-09T06:33:40Z- AHRS_M2 msg: 4.67 phi; -0.25 theta; -0.21 psi 2020-12-09T06:33:40Z- waiting for 1607495621.57, time is 1607495619.72 2020-12-09T06:33:40Z- sync is 0.40, coherence is 2.00 2020-12-09T06:33:40Z- handleDepth()-Depth_Keller msg: 27.57 epoch sec; seqNo:1607495620121; depth 0.00 2020-12-09T06:33:40Z- waiting for 1607495621.57, time is 1607495619.72 2020-12-09T06:33:40Z- sync is 0.40, coherence is 2.00 2020-12-09T06:33:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495620.13 epoch sec; seqNo:596; 4061667.00 north; 594519.92 east 2020-12-09T06:33:40Z- waiting for 1607495621.57, time is 1607495619.72 2020-12-09T06:33:40Z- sync is 0.42, coherence is 2.00 2020-12-09T06:33:40Z- AHRS_M2 msg: 1607495620.51 epoch sec; seqNo:573 2020-12-09T06:33:40Z- AHRS_M2 msg: 4.67 phi; -0.25 theta; -0.21 psi 2020-12-09T06:33:40Z- waiting for 1607495621.57, time is 1607495619.72 2020-12-09T06:33:40Z- sync is 0.80, coherence is 2.00 2020-12-09T06:33:40Z- handleDepth()-Depth_Keller msg: 27.66 epoch sec; seqNo:1607495620519; depth 0.00 2020-12-09T06:33:40Z- waiting for 1607495621.57, time is 1607495619.72 2020-12-09T06:33:40Z- sync is 0.80, coherence is 2.00 2020-12-09T06:33:40Z- handleDvl() - RDI_Pathfinder msg: 1607495620.53 epoch sec; seqNo:322 2020-12-09T06:33:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 54.66 , 0.00 , 53.51 , 70.86 2020-12-09T06:33:40Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.06 , 0.28 2020-12-09T06:33:40Z- waiting for 1607495621.57, time is 1607495620.53 2020-12-09T06:33:40Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495620.56 epoch sec; seqNo:597; 4061666.63 north; 594519.93 east 2020-12-09T06:33:40Z- waiting for 1607495621.57, time is 1607495620.53 2020-12-09T06:33:40Z- sync is 0.03, coherence is 2.00 2020-12-09T06:33:40Z- AHRS_M2 msg: 1607495620.92 epoch sec; seqNo:574 2020-12-09T06:33:40Z- AHRS_M2 msg: 4.67 phi; -0.25 theta; -0.21 psi 2020-12-09T06:33:40Z- waiting for 1607495621.57, time is 1607495620.53 2020-12-09T06:33:40Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:40Z- handleDepth()-Depth_Keller msg: 27.78 epoch sec; seqNo:1607495620926; depth 0.00 2020-12-09T06:33:40Z- waiting for 1607495621.57, time is 1607495620.53 2020-12-09T06:33:40Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:40Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:40Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:40Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:40Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:33:40Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:33:40Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:33:40Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:33:40Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:33:40Z- handleDvl() - RDI_Pathfinder msg: 1607495620.93 epoch sec; seqNo:323 2020-12-09T06:33:40Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:33:40Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.06 , 0.28 2020-12-09T06:33:40Z- waiting for 1607495621.57, time is 1607495620.93 2020-12-09T06:33:40Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495620.94 epoch sec; seqNo:598; 4061666.61 north; 594518.71 east 2020-12-09T06:33:40Z- waiting for 1607495621.57, time is 1607495620.93 2020-12-09T06:33:40Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:41Z- AHRS_M2 msg: 1607495621.32 epoch sec; seqNo:575 2020-12-09T06:33:41Z- AHRS_M2 msg: 4.68 phi; -0.26 theta; -0.21 psi 2020-12-09T06:33:41Z- waiting for 1607495621.57, time is 1607495620.93 2020-12-09T06:33:41Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:41Z- handleDepth()-Depth_Keller msg: 27.87 epoch sec; seqNo:1607495621328; depth 0.00 2020-12-09T06:33:41Z- waiting for 1607495621.57, time is 1607495620.93 2020-12-09T06:33:41Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:41Z- handleDvl() - RDI_Pathfinder msg: 1607495621.34 epoch sec; seqNo:324 2020-12-09T06:33:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 54.71 , 71.86 , 54.17 , 71.86 2020-12-09T06:33:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.10 , 0.22 2020-12-09T06:33:41Z- waiting for 1607495621.57, time is 1607495621.34 2020-12-09T06:33:41Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495621.35 epoch sec; seqNo:599; 4061666.61 north; 594518.71 east 2020-12-09T06:33:41Z- waiting for 1607495621.57, time is 1607495621.34 2020-12-09T06:33:41Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:41Z- AHRS_M2 msg: 1607495621.72 epoch sec; seqNo:576 2020-12-09T06:33:41Z- AHRS_M2 msg: 4.68 phi; -0.26 theta; -0.21 psi 2020-12-09T06:33:41Z- waiting for 1607495621.57, time is 1607495621.34 2020-12-09T06:33:41Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:41Z- handleDepth()-Depth_Keller msg: 27.98 epoch sec; seqNo:1607495621730; depth 0.00 2020-12-09T06:33:41Z- waiting for 1607495621.57, time is 1607495621.34 2020-12-09T06:33:41Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495621.76 epoch sec; seqNo:600; 4061666.61 north; 594518.71 east 2020-12-09T06:33:41Z- waiting for 1607495621.57, time is 1607495621.34 2020-12-09T06:33:41Z- sync is 0.42, coherence is 2.00 2020-12-09T06:33:42Z- AHRS_M2 msg: 1607495622.13 epoch sec; seqNo:577 2020-12-09T06:33:42Z- AHRS_M2 msg: 4.68 phi; -0.26 theta; -0.21 psi 2020-12-09T06:33:42Z- waiting for 1607495621.57, time is 1607495621.34 2020-12-09T06:33:42Z- sync is 0.79, coherence is 2.00 2020-12-09T06:33:42Z- handleDepth()-Depth_Keller msg: 28.05 epoch sec; seqNo:1607495622134; depth 0.00 2020-12-09T06:33:42Z- waiting for 1607495621.57, time is 1607495621.34 2020-12-09T06:33:42Z- sync is 0.79, coherence is 2.00 2020-12-09T06:33:42Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:42Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:42Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:42Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:33:42Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:33:42Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:33:42Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:33:42Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:33:42Z- handleDvl() - RDI_Pathfinder msg: 1607495622.14 epoch sec; seqNo:325 2020-12-09T06:33:42Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:33:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.10 , 0.22 2020-12-09T06:33:42Z- waiting for 1607495621.57, time is 1607495622.14 2020-12-09T06:33:42Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:42Z- LcmTrn::updateTrn() >>>> pose time 1607495622.13, meas time 1607495622.14 <<<< 2020-12-09T06:33:42Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495622.14, ping # 0. 2020-12-09T06:33:42Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495622.14 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:33:42Z- TerrainNav::motionUpdate() - currEstimate = (4061667, 594518.71, 28.05) 2020-12-09T06:33:42Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:33:42Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:33:42Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:33:42Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:33:42Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:33:42Z- TNavBF::mmse selected from filter -1 2020-12-09T06:33:42Z- variances([0], [2], and psi_berg) = 811.026089 833.130994 0.000000 2020-12-09T06:33:42Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:33:42Z- LcmTrn::cycle() - MLE : 4061633.11 594568.21 28.05 2020-12-09T06:33:42Z- LcmTrn::cycle() - MMSE : 4061666.61 594518.71 28.05 2020-12-09T06:33:42Z- LcmTrn::cycle() - COVAR: 811.03 833.13 35.83 0.00 2020-12-09T06:33:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495622.15 epoch sec; seqNo:601; 4061666.60 north; 594517.49 east 2020-12-09T06:33:42Z- waiting for 1607495625.14, time is 1607495622.14 2020-12-09T06:33:42Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:42Z- AHRS_M2 msg: 1607495622.53 epoch sec; seqNo:578 2020-12-09T06:33:42Z- AHRS_M2 msg: 4.69 phi; -0.26 theta; -0.21 psi 2020-12-09T06:33:42Z- waiting for 1607495625.14, time is 1607495622.14 2020-12-09T06:33:42Z- sync is 0.40, coherence is 2.00 2020-12-09T06:33:42Z- handleDepth()-Depth_Keller msg: 28.16 epoch sec; seqNo:1607495622539; depth 0.00 2020-12-09T06:33:42Z- waiting for 1607495625.14, time is 1607495622.14 2020-12-09T06:33:42Z- sync is 0.40, coherence is 2.00 2020-12-09T06:33:42Z- handleDvl() - RDI_Pathfinder msg: 1607495622.55 epoch sec; seqNo:326 2020-12-09T06:33:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 54.66 , 70.86 , 53.79 , 71.15 2020-12-09T06:33:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , -0.10 , 0.11 2020-12-09T06:33:42Z- waiting for 1607495625.14, time is 1607495622.55 2020-12-09T06:33:42Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495622.61 epoch sec; seqNo:602; 4061666.60 north; 594517.49 east 2020-12-09T06:33:42Z- waiting for 1607495625.14, time is 1607495622.55 2020-12-09T06:33:42Z- sync is 0.06, coherence is 2.00 2020-12-09T06:33:42Z- AHRS_M2 msg: 1607495622.95 epoch sec; seqNo:579 2020-12-09T06:33:42Z- AHRS_M2 msg: 4.69 phi; -0.26 theta; -0.21 psi 2020-12-09T06:33:42Z- waiting for 1607495625.14, time is 1607495622.55 2020-12-09T06:33:42Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:42Z- handleDepth()-Depth_Keller msg: 28.27 epoch sec; seqNo:1607495622953; depth 0.00 2020-12-09T06:33:42Z- waiting for 1607495625.14, time is 1607495622.55 2020-12-09T06:33:42Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495622.97 epoch sec; seqNo:603; 4061666.60 north; 594517.49 east 2020-12-09T06:33:42Z- waiting for 1607495625.14, time is 1607495622.55 2020-12-09T06:33:42Z- sync is 0.41, coherence is 2.00 2020-12-09T06:33:43Z- AHRS_M2 msg: 1607495623.34 epoch sec; seqNo:580 2020-12-09T06:33:43Z- AHRS_M2 msg: 4.70 phi; -0.26 theta; -0.21 psi 2020-12-09T06:33:43Z- waiting for 1607495625.14, time is 1607495622.55 2020-12-09T06:33:43Z- sync is 0.79, coherence is 2.00 2020-12-09T06:33:43Z- handleDepth()-Depth_Keller msg: 28.35 epoch sec; seqNo:1607495623347; depth 0.00 2020-12-09T06:33:43Z- waiting for 1607495625.14, time is 1607495622.55 2020-12-09T06:33:43Z- sync is 0.79, coherence is 2.00 2020-12-09T06:33:43Z- handleDvl() - RDI_Pathfinder msg: 1607495623.37 epoch sec; seqNo:327 2020-12-09T06:33:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 54.95 , 70.86 , 53.51 , 70.86 2020-12-09T06:33:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.08 , -0.02 2020-12-09T06:33:43Z- waiting for 1607495625.14, time is 1607495623.37 2020-12-09T06:33:43Z- sync is 0.03, coherence is 2.00 2020-12-09T06:33:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495623.38 epoch sec; seqNo:604; 4061666.60 north; 594517.49 east 2020-12-09T06:33:43Z- waiting for 1607495625.14, time is 1607495623.37 2020-12-09T06:33:43Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:43Z- AHRS_M2 msg: 1607495623.74 epoch sec; seqNo:581 2020-12-09T06:33:43Z- AHRS_M2 msg: 4.71 phi; -0.26 theta; -0.21 psi 2020-12-09T06:33:43Z- waiting for 1607495625.14, time is 1607495623.37 2020-12-09T06:33:43Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:43Z- handleDepth()-Depth_Keller msg: 28.44 epoch sec; seqNo:1607495623754; depth 0.00 2020-12-09T06:33:43Z- waiting for 1607495625.14, time is 1607495623.37 2020-12-09T06:33:43Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495623.77 epoch sec; seqNo:605; 4061666.58 north; 594516.26 east 2020-12-09T06:33:43Z- waiting for 1607495625.14, time is 1607495623.37 2020-12-09T06:33:43Z- sync is 0.40, coherence is 2.00 2020-12-09T06:33:44Z- AHRS_M2 msg: 1607495624.15 epoch sec; seqNo:582 2020-12-09T06:33:44Z- AHRS_M2 msg: 4.71 phi; -0.26 theta; -0.21 psi 2020-12-09T06:33:44Z- waiting for 1607495625.14, time is 1607495623.37 2020-12-09T06:33:44Z- sync is 0.78, coherence is 2.00 2020-12-09T06:33:44Z- handleDepth()-Depth_Keller msg: 28.52 epoch sec; seqNo:1607495624155; depth 0.00 2020-12-09T06:33:44Z- waiting for 1607495625.14, time is 1607495623.37 2020-12-09T06:33:44Z- sync is 0.78, coherence is 2.00 2020-12-09T06:33:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495624.16 epoch sec; seqNo:606; 4061666.58 north; 594516.26 east 2020-12-09T06:33:44Z- waiting for 1607495625.14, time is 1607495623.37 2020-12-09T06:33:44Z- sync is 0.80, coherence is 2.00 2020-12-09T06:33:44Z- AHRS_M2 msg: 1607495624.55 epoch sec; seqNo:583 2020-12-09T06:33:44Z- AHRS_M2 msg: 4.72 phi; -0.26 theta; -0.21 psi 2020-12-09T06:33:44Z- waiting for 1607495625.14, time is 1607495623.37 2020-12-09T06:33:44Z- sync is 1.18, coherence is 2.00 2020-12-09T06:33:44Z- handleDepth()-Depth_Keller msg: 28.61 epoch sec; seqNo:1607495624570; depth 0.00 2020-12-09T06:33:44Z- waiting for 1607495625.14, time is 1607495623.37 2020-12-09T06:33:44Z- sync is 1.18, coherence is 2.00 2020-12-09T06:33:44Z- handleDvl() - RDI_Pathfinder msg: 1607495624.59 epoch sec; seqNo:328 2020-12-09T06:33:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 54.66 , 0.00 , 52.93 , 71.15 2020-12-09T06:33:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , -0.03 , -0.13 2020-12-09T06:33:44Z- waiting for 1607495625.14, time is 1607495624.59 2020-12-09T06:33:44Z- sync is 0.04, coherence is 2.00 2020-12-09T06:33:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495624.61 epoch sec; seqNo:607; 4061666.58 north; 594516.26 east 2020-12-09T06:33:44Z- waiting for 1607495625.14, time is 1607495624.59 2020-12-09T06:33:44Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:44Z- AHRS_M2 msg: 1607495624.96 epoch sec; seqNo:584 2020-12-09T06:33:44Z- AHRS_M2 msg: 4.72 phi; -0.26 theta; -0.21 psi 2020-12-09T06:33:44Z- waiting for 1607495625.14, time is 1607495624.59 2020-12-09T06:33:44Z- sync is 0.37, coherence is 2.00 2020-12-09T06:33:44Z- handleDepth()-Depth_Keller msg: 28.70 epoch sec; seqNo:1607495624964; depth 0.00 2020-12-09T06:33:44Z- waiting for 1607495625.14, time is 1607495624.59 2020-12-09T06:33:44Z- sync is 0.37, coherence is 2.00 2020-12-09T06:33:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495624.99 epoch sec; seqNo:608; 4061666.57 north; 594515.04 east 2020-12-09T06:33:44Z- waiting for 1607495625.14, time is 1607495624.59 2020-12-09T06:33:44Z- sync is 0.40, coherence is 2.00 2020-12-09T06:33:45Z- AHRS_M2 msg: 1607495625.36 epoch sec; seqNo:585 2020-12-09T06:33:45Z- AHRS_M2 msg: 4.73 phi; -0.25 theta; -0.20 psi 2020-12-09T06:33:45Z- waiting for 1607495625.14, time is 1607495624.59 2020-12-09T06:33:45Z- sync is 0.77, coherence is 2.00 2020-12-09T06:33:45Z- handleDepth()-Depth_Keller msg: 28.76 epoch sec; seqNo:1607495625367; depth 0.00 2020-12-09T06:33:45Z- waiting for 1607495625.14, time is 1607495624.59 2020-12-09T06:33:45Z- sync is 0.77, coherence is 2.00 2020-12-09T06:33:45Z- handleDvl() - RDI_Pathfinder msg: 1607495625.38 epoch sec; seqNo:329 2020-12-09T06:33:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 54.44 , 69.41 , 52.81 , 71.04 2020-12-09T06:33:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.02 , -0.19 2020-12-09T06:33:45Z- waiting for 1607495625.14, time is 1607495625.38 2020-12-09T06:33:45Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:45Z- LcmTrn::updateTrn() >>>> pose time 1607495625.36, meas time 1607495625.38 <<<< 2020-12-09T06:33:45Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495625.38 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:33:45Z- TerrainNav::motionUpdate() - currEstimate = (4061667, 594515.04, 28.76) 2020-12-09T06:33:45Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:33:45Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:33:45Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:33:45Z- TNavBF::mmse selected from filter -1 2020-12-09T06:33:45Z- variances([0], [2], and psi_berg) = 810.743373 833.130142 0.000000 2020-12-09T06:33:45Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:33:45Z- LcmTrn::cycle() - MLE : 4061634.07 594564.54 28.76 2020-12-09T06:33:45Z- LcmTrn::cycle() - MMSE : 4061666.57 594515.04 28.76 2020-12-09T06:33:45Z- LcmTrn::cycle() - COVAR: 810.74 833.13 36.02 0.00 2020-12-09T06:33:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495625.39 epoch sec; seqNo:609; 4061666.57 north; 594515.04 east 2020-12-09T06:33:45Z- waiting for 1607495628.38, time is 1607495625.38 2020-12-09T06:33:45Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:45Z- AHRS_M2 msg: 1607495625.77 epoch sec; seqNo:586 2020-12-09T06:33:45Z- AHRS_M2 msg: 4.73 phi; -0.25 theta; -0.20 psi 2020-12-09T06:33:45Z- waiting for 1607495628.38, time is 1607495625.38 2020-12-09T06:33:45Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:45Z- handleDepth()-Depth_Keller msg: 28.84 epoch sec; seqNo:1607495625772; depth 0.00 2020-12-09T06:33:45Z- waiting for 1607495628.38, time is 1607495625.38 2020-12-09T06:33:45Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:45Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:45Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:45Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:45Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:33:45Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:33:45Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:33:45Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:33:45Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:33:45Z- handleDvl() - RDI_Pathfinder msg: 1607495625.77 epoch sec; seqNo:330 2020-12-09T06:33:45Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:33:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.02 , -0.19 2020-12-09T06:33:45Z- waiting for 1607495628.38, time is 1607495625.77 2020-12-09T06:33:45Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495625.79 epoch sec; seqNo:610; 4061666.57 north; 594515.04 east 2020-12-09T06:33:45Z- waiting for 1607495628.38, time is 1607495625.77 2020-12-09T06:33:45Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:46Z- AHRS_M2 msg: 1607495626.17 epoch sec; seqNo:587 2020-12-09T06:33:46Z- AHRS_M2 msg: 4.73 phi; -0.25 theta; -0.20 psi 2020-12-09T06:33:46Z- waiting for 1607495628.38, time is 1607495625.77 2020-12-09T06:33:46Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:46Z- handleDepth()-Depth_Keller msg: 28.94 epoch sec; seqNo:1607495626174; depth 0.00 2020-12-09T06:33:46Z- waiting for 1607495628.38, time is 1607495625.77 2020-12-09T06:33:46Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495626.19 epoch sec; seqNo:611; 4061666.57 north; 594515.04 east 2020-12-09T06:33:46Z- waiting for 1607495628.38, time is 1607495625.77 2020-12-09T06:33:46Z- sync is 0.42, coherence is 2.00 2020-12-09T06:33:46Z- AHRS_M2 msg: 1607495626.58 epoch sec; seqNo:588 2020-12-09T06:33:46Z- AHRS_M2 msg: 4.73 phi; -0.25 theta; -0.20 psi 2020-12-09T06:33:46Z- waiting for 1607495628.38, time is 1607495625.77 2020-12-09T06:33:46Z- sync is 0.80, coherence is 2.00 2020-12-09T06:33:46Z- handleDepth()-Depth_Keller msg: 28.98 epoch sec; seqNo:1607495626586; depth 0.00 2020-12-09T06:33:46Z- waiting for 1607495628.38, time is 1607495625.77 2020-12-09T06:33:46Z- sync is 0.80, coherence is 2.00 2020-12-09T06:33:46Z- handleDvl() - RDI_Pathfinder msg: 1607495626.61 epoch sec; seqNo:331 2020-12-09T06:33:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 54.08 , 68.83 , 52.35 , 70.28 2020-12-09T06:33:46Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.07 , -0.18 2020-12-09T06:33:46Z- waiting for 1607495628.38, time is 1607495626.61 2020-12-09T06:33:46Z- sync is 0.03, coherence is 2.00 2020-12-09T06:33:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495626.63 epoch sec; seqNo:612; 4061666.56 north; 594513.82 east 2020-12-09T06:33:46Z- waiting for 1607495628.38, time is 1607495626.61 2020-12-09T06:33:46Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:46Z- AHRS_M2 msg: 1607495626.98 epoch sec; seqNo:589 2020-12-09T06:33:46Z- AHRS_M2 msg: 4.73 phi; -0.24 theta; -0.20 psi 2020-12-09T06:33:46Z- waiting for 1607495628.38, time is 1607495626.61 2020-12-09T06:33:46Z- sync is 0.36, coherence is 2.00 2020-12-09T06:33:46Z- handleDepth()-Depth_Keller msg: 29.06 epoch sec; seqNo:1607495626982; depth 0.00 2020-12-09T06:33:46Z- waiting for 1607495628.38, time is 1607495626.61 2020-12-09T06:33:46Z- sync is 0.36, coherence is 2.00 2020-12-09T06:33:46Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:46Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:46Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:46Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:33:46Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:33:46Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:33:46Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:33:46Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:33:46Z- handleDvl() - RDI_Pathfinder msg: 1607495626.98 epoch sec; seqNo:332 2020-12-09T06:33:46Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:33:46Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.07 , -0.18 2020-12-09T06:33:46Z- waiting for 1607495628.38, time is 1607495626.98 2020-12-09T06:33:46Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495627.00 epoch sec; seqNo:613; 4061666.56 north; 594513.82 east 2020-12-09T06:33:46Z- waiting for 1607495628.38, time is 1607495626.98 2020-12-09T06:33:46Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:47Z- AHRS_M2 msg: 1607495627.38 epoch sec; seqNo:590 2020-12-09T06:33:47Z- AHRS_M2 msg: 4.73 phi; -0.24 theta; -0.21 psi 2020-12-09T06:33:47Z- waiting for 1607495628.38, time is 1607495626.98 2020-12-09T06:33:47Z- sync is 0.40, coherence is 2.00 2020-12-09T06:33:47Z- handleDepth()-Depth_Keller msg: 29.14 epoch sec; seqNo:1607495627388; depth 0.00 2020-12-09T06:33:47Z- waiting for 1607495628.38, time is 1607495626.98 2020-12-09T06:33:47Z- sync is 0.40, coherence is 2.00 2020-12-09T06:33:47Z- handleDvl() - RDI_Pathfinder msg: 1607495627.40 epoch sec; seqNo:333 2020-12-09T06:33:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 53.51 , 68.54 , 52.06 , 69.70 2020-12-09T06:33:47Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , 0.09 , -0.13 2020-12-09T06:33:47Z- waiting for 1607495628.38, time is 1607495627.40 2020-12-09T06:33:47Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495627.41 epoch sec; seqNo:614; 4061666.56 north; 594513.82 east 2020-12-09T06:33:47Z- waiting for 1607495628.38, time is 1607495627.40 2020-12-09T06:33:47Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:47Z- AHRS_M2 msg: 1607495627.79 epoch sec; seqNo:591 2020-12-09T06:33:47Z- AHRS_M2 msg: 4.73 phi; -0.24 theta; -0.21 psi 2020-12-09T06:33:47Z- waiting for 1607495628.38, time is 1607495627.40 2020-12-09T06:33:47Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:47Z- handleDepth()-Depth_Keller msg: 29.21 epoch sec; seqNo:1607495627799; depth 0.00 2020-12-09T06:33:47Z- waiting for 1607495628.38, time is 1607495627.40 2020-12-09T06:33:47Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495627.81 epoch sec; seqNo:615; 4061666.54 north; 594512.60 east 2020-12-09T06:33:47Z- waiting for 1607495628.38, time is 1607495627.40 2020-12-09T06:33:47Z- sync is 0.41, coherence is 2.00 2020-12-09T06:33:48Z- AHRS_M2 msg: 1607495628.19 epoch sec; seqNo:592 2020-12-09T06:33:48Z- AHRS_M2 msg: 4.72 phi; -0.24 theta; -0.21 psi 2020-12-09T06:33:48Z- waiting for 1607495628.38, time is 1607495627.40 2020-12-09T06:33:48Z- sync is 0.79, coherence is 2.00 2020-12-09T06:33:48Z- handleDepth()-Depth_Keller msg: 29.29 epoch sec; seqNo:1607495628202; depth 0.00 2020-12-09T06:33:48Z- waiting for 1607495628.38, time is 1607495627.40 2020-12-09T06:33:48Z- sync is 0.79, coherence is 2.00 2020-12-09T06:33:48Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:48Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:48Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:48Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:33:48Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:33:48Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:33:48Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:33:48Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:33:48Z- handleDvl() - RDI_Pathfinder msg: 1607495628.20 epoch sec; seqNo:334 2020-12-09T06:33:48Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:33:48Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , 0.09 , -0.13 2020-12-09T06:33:48Z- waiting for 1607495628.38, time is 1607495628.20 2020-12-09T06:33:48Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495628.21 epoch sec; seqNo:616; 4061666.54 north; 594512.60 east 2020-12-09T06:33:48Z- waiting for 1607495628.38, time is 1607495628.20 2020-12-09T06:33:48Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:48Z- AHRS_M2 msg: 1607495628.61 epoch sec; seqNo:593 2020-12-09T06:33:48Z- AHRS_M2 msg: 4.72 phi; -0.24 theta; -0.22 psi 2020-12-09T06:33:48Z- waiting for 1607495628.38, time is 1607495628.20 2020-12-09T06:33:48Z- sync is 0.40, coherence is 2.00 2020-12-09T06:33:48Z- handleDepth()-Depth_Keller msg: 29.36 epoch sec; seqNo:1607495628616; depth 0.00 2020-12-09T06:33:48Z- waiting for 1607495628.38, time is 1607495628.20 2020-12-09T06:33:48Z- sync is 0.40, coherence is 2.00 2020-12-09T06:33:48Z- handleDvl() - RDI_Pathfinder msg: 1607495628.63 epoch sec; seqNo:335 2020-12-09T06:33:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.93 , 69.12 , 52.06 , 69.12 2020-12-09T06:33:48Z- handleDvl() - RDI_Pathfinder msg: velocities 1.12 , 0.08 , -0.05 2020-12-09T06:33:48Z- waiting for 1607495628.38, time is 1607495628.63 2020-12-09T06:33:48Z- sync is 0.03, coherence is 2.00 2020-12-09T06:33:48Z- LcmTrn::updateTrn() >>>> pose time 1607495628.61, meas time 1607495628.63 <<<< 2020-12-09T06:33:48Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495628.63 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:33:48Z- TerrainNav::motionUpdate() - currEstimate = (4061667, 594512.60, 29.36) 2020-12-09T06:33:48Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:33:48Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:33:48Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:33:48Z- TNavBF::mmse selected from filter -1 2020-12-09T06:33:48Z- variances([0], [2], and psi_berg) = 810.514278 833.129458 0.000000 2020-12-09T06:33:48Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:33:48Z- LcmTrn::cycle() - MLE : 4061634.04 594562.10 29.36 2020-12-09T06:33:48Z- LcmTrn::cycle() - MMSE : 4061666.54 594512.60 29.36 2020-12-09T06:33:48Z- LcmTrn::cycle() - COVAR: 810.51 833.13 36.14 0.00 2020-12-09T06:33:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495628.66 epoch sec; seqNo:617; 4061666.53 north; 594511.38 east 2020-12-09T06:33:48Z- waiting for 1607495631.63, time is 1607495628.63 2020-12-09T06:33:48Z- sync is 0.03, coherence is 2.00 2020-12-09T06:33:48Z- AHRS_M2 msg: 1607495629.00 epoch sec; seqNo:594 2020-12-09T06:33:48Z- AHRS_M2 msg: 4.71 phi; -0.24 theta; -0.22 psi 2020-12-09T06:33:48Z- waiting for 1607495631.63, time is 1607495628.63 2020-12-09T06:33:48Z- sync is 0.37, coherence is 2.00 2020-12-09T06:33:48Z- handleDepth()-Depth_Keller msg: 29.45 epoch sec; seqNo:1607495629009; depth 0.00 2020-12-09T06:33:48Z- waiting for 1607495631.63, time is 1607495628.63 2020-12-09T06:33:48Z- sync is 0.37, coherence is 2.00 2020-12-09T06:33:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495629.02 epoch sec; seqNo:618; 4061666.53 north; 594511.38 east 2020-12-09T06:33:49Z- waiting for 1607495631.63, time is 1607495628.63 2020-12-09T06:33:49Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:49Z- AHRS_M2 msg: 1607495629.40 epoch sec; seqNo:595 2020-12-09T06:33:49Z- AHRS_M2 msg: 4.71 phi; -0.24 theta; -0.22 psi 2020-12-09T06:33:49Z- waiting for 1607495631.63, time is 1607495628.63 2020-12-09T06:33:49Z- sync is 0.77, coherence is 2.00 2020-12-09T06:33:49Z- handleDepth()-Depth_Keller msg: 29.53 epoch sec; seqNo:1607495629407; depth 0.00 2020-12-09T06:33:49Z- waiting for 1607495631.63, time is 1607495628.63 2020-12-09T06:33:49Z- sync is 0.77, coherence is 2.00 2020-12-09T06:33:49Z- handleDvl() - RDI_Pathfinder msg: 1607495629.43 epoch sec; seqNo:336 2020-12-09T06:33:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.35 , 69.41 , 51.77 , 69.41 2020-12-09T06:33:49Z- handleDvl() - RDI_Pathfinder msg: velocities 1.14 , 0.04 , 0.04 2020-12-09T06:33:49Z- waiting for 1607495631.63, time is 1607495629.43 2020-12-09T06:33:49Z- sync is 0.03, coherence is 2.00 2020-12-09T06:33:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495629.44 epoch sec; seqNo:619; 4061666.53 north; 594511.38 east 2020-12-09T06:33:49Z- waiting for 1607495631.63, time is 1607495629.43 2020-12-09T06:33:49Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:49Z- AHRS_M2 msg: 1607495629.81 epoch sec; seqNo:596 2020-12-09T06:33:49Z- AHRS_M2 msg: 4.70 phi; -0.23 theta; -0.23 psi 2020-12-09T06:33:49Z- waiting for 1607495631.63, time is 1607495629.43 2020-12-09T06:33:49Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:49Z- handleDepth()-Depth_Keller msg: 29.60 epoch sec; seqNo:1607495629814; depth 0.00 2020-12-09T06:33:49Z- waiting for 1607495631.63, time is 1607495629.43 2020-12-09T06:33:49Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495629.83 epoch sec; seqNo:620; 4061666.52 north; 594510.16 east 2020-12-09T06:33:49Z- waiting for 1607495631.63, time is 1607495629.43 2020-12-09T06:33:49Z- sync is 0.40, coherence is 2.00 2020-12-09T06:33:50Z- AHRS_M2 msg: 1607495630.21 epoch sec; seqNo:597 2020-12-09T06:33:50Z- AHRS_M2 msg: 4.70 phi; -0.23 theta; -0.23 psi 2020-12-09T06:33:50Z- waiting for 1607495631.63, time is 1607495629.43 2020-12-09T06:33:50Z- sync is 0.78, coherence is 2.00 2020-12-09T06:33:50Z- handleDepth()-Depth_Keller msg: 29.69 epoch sec; seqNo:1607495630217; depth 0.00 2020-12-09T06:33:50Z- waiting for 1607495631.63, time is 1607495629.43 2020-12-09T06:33:50Z- sync is 0.78, coherence is 2.00 2020-12-09T06:33:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495630.23 epoch sec; seqNo:621; 4061666.52 north; 594510.16 east 2020-12-09T06:33:50Z- waiting for 1607495631.63, time is 1607495629.43 2020-12-09T06:33:50Z- sync is 0.81, coherence is 2.00 2020-12-09T06:33:50Z- AHRS_M2 msg: 1607495630.61 epoch sec; seqNo:598 2020-12-09T06:33:50Z- AHRS_M2 msg: 4.69 phi; -0.23 theta; -0.23 psi 2020-12-09T06:33:50Z- waiting for 1607495631.63, time is 1607495629.43 2020-12-09T06:33:50Z- sync is 1.18, coherence is 2.00 2020-12-09T06:33:50Z- handleDepth()-Depth_Keller msg: 29.77 epoch sec; seqNo:1607495630637; depth 0.00 2020-12-09T06:33:50Z- waiting for 1607495631.63, time is 1607495629.43 2020-12-09T06:33:50Z- sync is 1.18, coherence is 2.00 2020-12-09T06:33:50Z- handleDvl() - RDI_Pathfinder msg: 1607495630.65 epoch sec; seqNo:337 2020-12-09T06:33:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.77 , 69.41 , 51.77 , 68.25 2020-12-09T06:33:50Z- handleDvl() - RDI_Pathfinder msg: velocities 1.15 , 0.00 , 0.11 2020-12-09T06:33:50Z- waiting for 1607495631.63, time is 1607495630.65 2020-12-09T06:33:50Z- sync is 0.04, coherence is 2.00 2020-12-09T06:33:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495630.66 epoch sec; seqNo:622; 4061666.52 north; 594510.16 east 2020-12-09T06:33:50Z- waiting for 1607495631.63, time is 1607495630.65 2020-12-09T06:33:50Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:51Z- AHRS_M2 msg: 1607495631.02 epoch sec; seqNo:599 2020-12-09T06:33:51Z- AHRS_M2 msg: 4.69 phi; -0.23 theta; -0.23 psi 2020-12-09T06:33:51Z- waiting for 1607495631.63, time is 1607495630.65 2020-12-09T06:33:51Z- sync is 0.37, coherence is 2.00 2020-12-09T06:33:51Z- handleDepth()-Depth_Keller msg: 29.86 epoch sec; seqNo:1607495631166; depth 0.00 2020-12-09T06:33:51Z- waiting for 1607495631.63, time is 1607495630.65 2020-12-09T06:33:51Z- sync is 0.37, coherence is 2.00 2020-12-09T06:33:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495631.18 epoch sec; seqNo:623; 4061666.50 north; 594508.94 east 2020-12-09T06:33:51Z- waiting for 1607495631.63, time is 1607495630.65 2020-12-09T06:33:51Z- sync is 0.53, coherence is 2.00 2020-12-09T06:33:51Z- AHRS_M2 msg: 1607495631.43 epoch sec; seqNo:600 2020-12-09T06:33:51Z- AHRS_M2 msg: 4.69 phi; -0.23 theta; -0.24 psi 2020-12-09T06:33:51Z- waiting for 1607495631.63, time is 1607495630.65 2020-12-09T06:33:51Z- sync is 0.78, coherence is 2.00 2020-12-09T06:33:51Z- handleDepth()-Depth_Keller msg: 29.97 epoch sec; seqNo:1607495631486; depth 0.00 2020-12-09T06:33:51Z- waiting for 1607495631.63, time is 1607495630.65 2020-12-09T06:33:51Z- sync is 0.78, coherence is 2.00 2020-12-09T06:33:51Z- handleDvl() - RDI_Pathfinder msg: 1607495631.51 epoch sec; seqNo:338 2020-12-09T06:33:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.77 , 69.41 , 51.48 , 68.54 2020-12-09T06:33:51Z- handleDvl() - RDI_Pathfinder msg: velocities 1.14 , -0.05 , 0.16 2020-12-09T06:33:51Z- waiting for 1607495631.63, time is 1607495631.51 2020-12-09T06:33:51Z- sync is 0.08, coherence is 2.00 2020-12-09T06:33:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495631.54 epoch sec; seqNo:624; 4061666.50 north; 594508.94 east 2020-12-09T06:33:51Z- waiting for 1607495631.63, time is 1607495631.51 2020-12-09T06:33:51Z- sync is 0.03, coherence is 2.00 2020-12-09T06:33:51Z- AHRS_M2 msg: 1607495631.83 epoch sec; seqNo:601 2020-12-09T06:33:51Z- AHRS_M2 msg: 4.68 phi; -0.23 theta; -0.24 psi 2020-12-09T06:33:51Z- waiting for 1607495631.63, time is 1607495631.51 2020-12-09T06:33:51Z- sync is 0.32, coherence is 2.00 2020-12-09T06:33:51Z- handleDepth()-Depth_Keller msg: 30.04 epoch sec; seqNo:1607495631865; depth 0.00 2020-12-09T06:33:51Z- waiting for 1607495631.63, time is 1607495631.51 2020-12-09T06:33:51Z- sync is 0.32, coherence is 2.00 2020-12-09T06:33:51Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:51Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:51Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:33:51Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:33:51Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:33:51Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:33:51Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:33:51Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:33:51Z- handleDvl() - RDI_Pathfinder msg: 1607495631.87 epoch sec; seqNo:339 2020-12-09T06:33:51Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:33:51Z- handleDvl() - RDI_Pathfinder msg: velocities 1.14 , -0.05 , 0.16 2020-12-09T06:33:51Z- waiting for 1607495631.63, time is 1607495631.87 2020-12-09T06:33:51Z- sync is 0.04, coherence is 2.00 2020-12-09T06:33:51Z- LcmTrn::updateTrn() >>>> pose time 1607495631.83, meas time 1607495631.87 <<<< 2020-12-09T06:33:51Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495631.87, ping # 0. 2020-12-09T06:33:51Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495631.87 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:33:51Z- TerrainNav::motionUpdate() - currEstimate = (4061667, 594508.94, 30.04) 2020-12-09T06:33:51Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:33:51Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:33:51Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:33:51Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:33:51Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:33:51Z- TNavBF::mmse selected from filter -1 2020-12-09T06:33:51Z- variances([0], [2], and psi_berg) = 810.235386 833.128633 0.000000 2020-12-09T06:33:51Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:33:51Z- LcmTrn::cycle() - MLE : 4061634.00 594558.44 30.04 2020-12-09T06:33:51Z- LcmTrn::cycle() - MMSE : 4061666.50 594508.94 30.04 2020-12-09T06:33:51Z- LcmTrn::cycle() - COVAR: 810.24 833.13 36.33 0.00 2020-12-09T06:33:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495631.89 epoch sec; seqNo:625; 4061666.50 north; 594508.94 east 2020-12-09T06:33:51Z- waiting for 1607495634.87, time is 1607495631.87 2020-12-09T06:33:51Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:52Z- AHRS_M2 msg: 1607495632.24 epoch sec; seqNo:602 2020-12-09T06:33:52Z- AHRS_M2 msg: 4.68 phi; -0.23 theta; -0.24 psi 2020-12-09T06:33:52Z- waiting for 1607495634.87, time is 1607495631.87 2020-12-09T06:33:52Z- sync is 0.37, coherence is 2.00 2020-12-09T06:33:52Z- handleDepth()-Depth_Keller msg: 30.11 epoch sec; seqNo:1607495632298; depth 0.00 2020-12-09T06:33:52Z- waiting for 1607495634.87, time is 1607495631.87 2020-12-09T06:33:52Z- sync is 0.37, coherence is 2.00 2020-12-09T06:33:52Z- handleDvl() - RDI_Pathfinder msg: 1607495632.32 epoch sec; seqNo:340 2020-12-09T06:33:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.77 , 69.70 , 51.77 , 68.25 2020-12-09T06:33:52Z- handleDvl() - RDI_Pathfinder msg: velocities 1.11 , -0.07 , 0.17 2020-12-09T06:33:52Z- waiting for 1607495634.87, time is 1607495632.32 2020-12-09T06:33:52Z- sync is 0.08, coherence is 2.00 2020-12-09T06:33:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495632.33 epoch sec; seqNo:626; 4061666.49 north; 594507.72 east 2020-12-09T06:33:52Z- waiting for 1607495634.87, time is 1607495632.32 2020-12-09T06:33:52Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:52Z- AHRS_M2 msg: 1607495632.63 epoch sec; seqNo:603 2020-12-09T06:33:52Z- AHRS_M2 msg: 4.68 phi; -0.23 theta; -0.24 psi 2020-12-09T06:33:52Z- waiting for 1607495634.87, time is 1607495632.32 2020-12-09T06:33:52Z- sync is 0.32, coherence is 2.00 2020-12-09T06:33:52Z- handleDepth()-Depth_Keller msg: 30.21 epoch sec; seqNo:1607495632639; depth 0.00 2020-12-09T06:33:52Z- waiting for 1607495634.87, time is 1607495632.32 2020-12-09T06:33:52Z- sync is 0.32, coherence is 2.00 2020-12-09T06:33:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495632.65 epoch sec; seqNo:627; 4061666.49 north; 594507.72 east 2020-12-09T06:33:52Z- waiting for 1607495634.87, time is 1607495632.32 2020-12-09T06:33:52Z- sync is 0.34, coherence is 2.00 2020-12-09T06:33:53Z- AHRS_M2 msg: 1607495633.04 epoch sec; seqNo:604 2020-12-09T06:33:53Z- AHRS_M2 msg: 4.68 phi; -0.23 theta; -0.24 psi 2020-12-09T06:33:53Z- waiting for 1607495634.87, time is 1607495632.32 2020-12-09T06:33:53Z- sync is 0.72, coherence is 2.00 2020-12-09T06:33:53Z- handleDepth()-Depth_Keller msg: 30.27 epoch sec; seqNo:1607495633045; depth 0.00 2020-12-09T06:33:53Z- waiting for 1607495634.87, time is 1607495632.32 2020-12-09T06:33:53Z- sync is 0.72, coherence is 2.00 2020-12-09T06:33:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495633.05 epoch sec; seqNo:628; 4061666.49 north; 594507.72 east 2020-12-09T06:33:53Z- waiting for 1607495634.87, time is 1607495632.32 2020-12-09T06:33:53Z- sync is 0.74, coherence is 2.00 2020-12-09T06:33:53Z- AHRS_M2 msg: 1607495633.44 epoch sec; seqNo:605 2020-12-09T06:33:53Z- AHRS_M2 msg: 4.68 phi; -0.23 theta; -0.24 psi 2020-12-09T06:33:53Z- waiting for 1607495634.87, time is 1607495632.32 2020-12-09T06:33:53Z- sync is 1.13, coherence is 2.00 2020-12-09T06:33:53Z- handleDepth()-Depth_Keller msg: 30.37 epoch sec; seqNo:1607495633448; depth 0.00 2020-12-09T06:33:53Z- waiting for 1607495634.87, time is 1607495632.32 2020-12-09T06:33:53Z- sync is 1.13, coherence is 2.00 2020-12-09T06:33:53Z- handleDvl() - RDI_Pathfinder msg: 1607495633.46 epoch sec; seqNo:341 2020-12-09T06:33:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.77 , 69.41 , 51.48 , 67.68 2020-12-09T06:33:53Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.07 , 0.17 2020-12-09T06:33:53Z- waiting for 1607495634.87, time is 1607495633.46 2020-12-09T06:33:53Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495633.48 epoch sec; seqNo:629; 4061666.48 north; 594506.50 east 2020-12-09T06:33:53Z- waiting for 1607495634.87, time is 1607495633.46 2020-12-09T06:33:53Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:53Z- AHRS_M2 msg: 1607495633.85 epoch sec; seqNo:606 2020-12-09T06:33:53Z- AHRS_M2 msg: 4.68 phi; -0.23 theta; -0.23 psi 2020-12-09T06:33:53Z- waiting for 1607495634.87, time is 1607495633.46 2020-12-09T06:33:53Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:53Z- handleDepth()-Depth_Keller msg: 30.47 epoch sec; seqNo:1607495633851; depth 0.00 2020-12-09T06:33:53Z- waiting for 1607495634.87, time is 1607495633.46 2020-12-09T06:33:53Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495633.87 epoch sec; seqNo:630; 4061666.48 north; 594506.50 east 2020-12-09T06:33:53Z- waiting for 1607495634.87, time is 1607495633.46 2020-12-09T06:33:53Z- sync is 0.41, coherence is 2.00 2020-12-09T06:33:54Z- AHRS_M2 msg: 1607495634.28 epoch sec; seqNo:607 2020-12-09T06:33:54Z- AHRS_M2 msg: 4.68 phi; -0.23 theta; -0.23 psi 2020-12-09T06:33:54Z- waiting for 1607495634.87, time is 1607495633.46 2020-12-09T06:33:54Z- sync is 0.81, coherence is 2.00 2020-12-09T06:33:54Z- handleDepth()-Depth_Keller msg: 30.55 epoch sec; seqNo:1607495634283; depth 0.00 2020-12-09T06:33:54Z- waiting for 1607495634.87, time is 1607495633.46 2020-12-09T06:33:54Z- sync is 0.81, coherence is 2.00 2020-12-09T06:33:54Z- handleDvl() - RDI_Pathfinder msg: 1607495634.30 epoch sec; seqNo:342 2020-12-09T06:33:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.48 , 68.25 , 51.48 , 67.39 2020-12-09T06:33:54Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.03 , 0.13 2020-12-09T06:33:54Z- waiting for 1607495634.87, time is 1607495634.30 2020-12-09T06:33:54Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495634.31 epoch sec; seqNo:631; 4061666.48 north; 594506.50 east 2020-12-09T06:33:54Z- waiting for 1607495634.87, time is 1607495634.30 2020-12-09T06:33:54Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:54Z- AHRS_M2 msg: 1607495634.66 epoch sec; seqNo:608 2020-12-09T06:33:54Z- AHRS_M2 msg: 4.68 phi; -0.23 theta; -0.22 psi 2020-12-09T06:33:54Z- waiting for 1607495634.87, time is 1607495634.30 2020-12-09T06:33:54Z- sync is 0.36, coherence is 2.00 2020-12-09T06:33:54Z- handleDepth()-Depth_Keller msg: 30.65 epoch sec; seqNo:1607495634667; depth 0.00 2020-12-09T06:33:54Z- waiting for 1607495634.87, time is 1607495634.30 2020-12-09T06:33:54Z- sync is 0.36, coherence is 2.00 2020-12-09T06:33:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495634.68 epoch sec; seqNo:632; 4061666.46 north; 594505.28 east 2020-12-09T06:33:54Z- waiting for 1607495634.87, time is 1607495634.30 2020-12-09T06:33:54Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:55Z- AHRS_M2 msg: 1607495635.06 epoch sec; seqNo:609 2020-12-09T06:33:55Z- AHRS_M2 msg: 4.69 phi; -0.23 theta; -0.22 psi 2020-12-09T06:33:55Z- waiting for 1607495634.87, time is 1607495634.30 2020-12-09T06:33:55Z- sync is 0.76, coherence is 2.00 2020-12-09T06:33:55Z- handleDepth()-Depth_Keller msg: 30.73 epoch sec; seqNo:1607495635067; depth 0.00 2020-12-09T06:33:55Z- waiting for 1607495634.87, time is 1607495634.30 2020-12-09T06:33:55Z- sync is 0.76, coherence is 2.00 2020-12-09T06:33:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495635.08 epoch sec; seqNo:633; 4061666.46 north; 594505.28 east 2020-12-09T06:33:55Z- waiting for 1607495634.87, time is 1607495634.30 2020-12-09T06:33:55Z- sync is 0.78, coherence is 2.00 2020-12-09T06:33:55Z- AHRS_M2 msg: 1607495635.46 epoch sec; seqNo:610 2020-12-09T06:33:55Z- AHRS_M2 msg: 4.69 phi; -0.23 theta; -0.22 psi 2020-12-09T06:33:55Z- waiting for 1607495634.87, time is 1607495634.30 2020-12-09T06:33:55Z- sync is 1.17, coherence is 2.00 2020-12-09T06:33:55Z- handleDepth()-Depth_Keller msg: 30.83 epoch sec; seqNo:1607495635470; depth 0.00 2020-12-09T06:33:55Z- waiting for 1607495634.87, time is 1607495634.30 2020-12-09T06:33:55Z- sync is 1.17, coherence is 2.00 2020-12-09T06:33:55Z- handleDvl() - RDI_Pathfinder msg: 1607495635.49 epoch sec; seqNo:343 2020-12-09T06:33:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.72 , 66.96 , 51.17 , 66.69 2020-12-09T06:33:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.00 , 0.07 2020-12-09T06:33:55Z- waiting for 1607495634.87, time is 1607495635.49 2020-12-09T06:33:55Z- sync is 0.03, coherence is 2.00 2020-12-09T06:33:55Z- LcmTrn::updateTrn() >>>> pose time 1607495635.46, meas time 1607495635.49 <<<< 2020-12-09T06:33:55Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495635.49 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:33:55Z- TerrainNav::motionUpdate() - currEstimate = (4061666, 594505.28, 30.83) 2020-12-09T06:33:55Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:33:55Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:33:55Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:33:55Z- TNavBF::mmse selected from filter -1 2020-12-09T06:33:55Z- variances([0], [2], and psi_berg) = 809.958546 833.127821 0.000000 2020-12-09T06:33:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:33:55Z- LcmTrn::cycle() - MLE : 4061633.96 594554.78 30.83 2020-12-09T06:33:55Z- LcmTrn::cycle() - MMSE : 4061666.46 594505.28 30.83 2020-12-09T06:33:55Z- LcmTrn::cycle() - COVAR: 809.96 833.13 36.52 0.00 2020-12-09T06:33:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495635.51 epoch sec; seqNo:634; 4061666.46 north; 594505.28 east 2020-12-09T06:33:55Z- waiting for 1607495638.49, time is 1607495635.49 2020-12-09T06:33:55Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:55Z- AHRS_M2 msg: 1607495635.86 epoch sec; seqNo:611 2020-12-09T06:33:55Z- AHRS_M2 msg: 4.69 phi; -0.24 theta; -0.22 psi 2020-12-09T06:33:55Z- waiting for 1607495638.49, time is 1607495635.49 2020-12-09T06:33:55Z- sync is 0.37, coherence is 2.00 2020-12-09T06:33:55Z- handleDepth()-Depth_Keller msg: 30.90 epoch sec; seqNo:1607495635871; depth 0.00 2020-12-09T06:33:55Z- waiting for 1607495638.49, time is 1607495635.49 2020-12-09T06:33:55Z- sync is 0.37, coherence is 2.00 2020-12-09T06:33:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495635.88 epoch sec; seqNo:635; 4061666.45 north; 594504.06 east 2020-12-09T06:33:55Z- waiting for 1607495638.49, time is 1607495635.49 2020-12-09T06:33:55Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:56Z- AHRS_M2 msg: 1607495636.28 epoch sec; seqNo:612 2020-12-09T06:33:56Z- AHRS_M2 msg: 4.69 phi; -0.24 theta; -0.22 psi 2020-12-09T06:33:56Z- waiting for 1607495638.49, time is 1607495635.49 2020-12-09T06:33:56Z- sync is 0.78, coherence is 2.00 2020-12-09T06:33:56Z- handleDepth()-Depth_Keller msg: 30.99 epoch sec; seqNo:1607495636283; depth 0.00 2020-12-09T06:33:56Z- waiting for 1607495638.49, time is 1607495635.49 2020-12-09T06:33:56Z- sync is 0.78, coherence is 2.00 2020-12-09T06:33:56Z- handleDvl() - RDI_Pathfinder msg: 1607495636.30 epoch sec; seqNo:344 2020-12-09T06:33:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.45 , 66.69 , 50.63 , 66.96 2020-12-09T06:33:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.04 , -0.01 2020-12-09T06:33:56Z- waiting for 1607495638.49, time is 1607495636.30 2020-12-09T06:33:56Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495636.31 epoch sec; seqNo:636; 4061666.45 north; 594504.06 east 2020-12-09T06:33:56Z- waiting for 1607495638.49, time is 1607495636.30 2020-12-09T06:33:56Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:56Z- AHRS_M2 msg: 1607495636.67 epoch sec; seqNo:613 2020-12-09T06:33:56Z- AHRS_M2 msg: 4.69 phi; -0.24 theta; -0.22 psi 2020-12-09T06:33:56Z- waiting for 1607495638.49, time is 1607495636.30 2020-12-09T06:33:56Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:56Z- handleDepth()-Depth_Keller msg: 31.07 epoch sec; seqNo:1607495636678; depth 0.00 2020-12-09T06:33:56Z- waiting for 1607495638.49, time is 1607495636.30 2020-12-09T06:33:56Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495636.70 epoch sec; seqNo:637; 4061666.45 north; 594504.06 east 2020-12-09T06:33:56Z- waiting for 1607495638.49, time is 1607495636.30 2020-12-09T06:33:56Z- sync is 0.40, coherence is 2.00 2020-12-09T06:33:57Z- AHRS_M2 msg: 1607495637.08 epoch sec; seqNo:614 2020-12-09T06:33:57Z- AHRS_M2 msg: 4.69 phi; -0.24 theta; -0.22 psi 2020-12-09T06:33:57Z- waiting for 1607495638.49, time is 1607495636.30 2020-12-09T06:33:57Z- sync is 0.78, coherence is 2.00 2020-12-09T06:33:57Z- handleDepth()-Depth_Keller msg: 31.15 epoch sec; seqNo:1607495637090; depth 0.00 2020-12-09T06:33:57Z- waiting for 1607495638.49, time is 1607495636.30 2020-12-09T06:33:57Z- sync is 0.78, coherence is 2.00 2020-12-09T06:33:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495637.11 epoch sec; seqNo:638; 4061666.44 north; 594502.84 east 2020-12-09T06:33:57Z- waiting for 1607495638.49, time is 1607495636.30 2020-12-09T06:33:57Z- sync is 0.82, coherence is 2.00 2020-12-09T06:33:57Z- AHRS_M2 msg: 1607495637.48 epoch sec; seqNo:615 2020-12-09T06:33:57Z- AHRS_M2 msg: 4.70 phi; -0.24 theta; -0.22 psi 2020-12-09T06:33:57Z- waiting for 1607495638.49, time is 1607495636.30 2020-12-09T06:33:57Z- sync is 1.18, coherence is 2.00 2020-12-09T06:33:57Z- handleDepth()-Depth_Keller msg: 31.23 epoch sec; seqNo:1607495637490; depth 0.00 2020-12-09T06:33:57Z- waiting for 1607495638.49, time is 1607495636.30 2020-12-09T06:33:57Z- sync is 1.18, coherence is 2.00 2020-12-09T06:33:57Z- handleDvl() - RDI_Pathfinder msg: 1607495637.50 epoch sec; seqNo:345 2020-12-09T06:33:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.45 , 66.69 , 50.36 , 66.96 2020-12-09T06:33:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.02 , -0.09 2020-12-09T06:33:57Z- waiting for 1607495638.49, time is 1607495637.50 2020-12-09T06:33:57Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495637.53 epoch sec; seqNo:639; 4061666.44 north; 594502.84 east 2020-12-09T06:33:57Z- waiting for 1607495638.49, time is 1607495637.50 2020-12-09T06:33:57Z- sync is 0.03, coherence is 2.00 2020-12-09T06:33:57Z- AHRS_M2 msg: 1607495637.89 epoch sec; seqNo:616 2020-12-09T06:33:57Z- AHRS_M2 msg: 4.70 phi; -0.24 theta; -0.22 psi 2020-12-09T06:33:57Z- waiting for 1607495638.49, time is 1607495637.50 2020-12-09T06:33:57Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:57Z- handleDepth()-Depth_Keller msg: 31.31 epoch sec; seqNo:1607495637892; depth 0.00 2020-12-09T06:33:57Z- waiting for 1607495638.49, time is 1607495637.50 2020-12-09T06:33:57Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495637.90 epoch sec; seqNo:640; 4061666.44 north; 594502.84 east 2020-12-09T06:33:57Z- waiting for 1607495638.49, time is 1607495637.50 2020-12-09T06:33:57Z- sync is 0.40, coherence is 2.00 2020-12-09T06:33:58Z- AHRS_M2 msg: 1607495638.29 epoch sec; seqNo:617 2020-12-09T06:33:58Z- AHRS_M2 msg: 4.70 phi; -0.24 theta; -0.22 psi 2020-12-09T06:33:58Z- waiting for 1607495638.49, time is 1607495637.50 2020-12-09T06:33:58Z- sync is 0.79, coherence is 2.00 2020-12-09T06:33:58Z- handleDepth()-Depth_Keller msg: 31.40 epoch sec; seqNo:1607495638294; depth 0.00 2020-12-09T06:33:58Z- waiting for 1607495638.49, time is 1607495637.50 2020-12-09T06:33:58Z- sync is 0.79, coherence is 2.00 2020-12-09T06:33:58Z- handleDvl() - RDI_Pathfinder msg: 1607495638.31 epoch sec; seqNo:346 2020-12-09T06:33:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 50.90 , 66.69 , 50.08 , 66.69 2020-12-09T06:33:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.03 , -0.13 2020-12-09T06:33:58Z- waiting for 1607495638.49, time is 1607495638.31 2020-12-09T06:33:58Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495638.33 epoch sec; seqNo:641; 4061666.44 north; 594502.84 east 2020-12-09T06:33:58Z- waiting for 1607495638.49, time is 1607495638.31 2020-12-09T06:33:58Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:58Z- AHRS_M2 msg: 1607495638.69 epoch sec; seqNo:618 2020-12-09T06:33:58Z- AHRS_M2 msg: 4.70 phi; -0.24 theta; -0.22 psi 2020-12-09T06:33:58Z- waiting for 1607495638.49, time is 1607495638.31 2020-12-09T06:33:58Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:58Z- handleDepth()-Depth_Keller msg: 31.48 epoch sec; seqNo:1607495638698; depth 0.00 2020-12-09T06:33:58Z- waiting for 1607495638.49, time is 1607495638.31 2020-12-09T06:33:58Z- sync is 0.38, coherence is 2.00 2020-12-09T06:33:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495638.71 epoch sec; seqNo:642; 4061666.42 north; 594501.62 east 2020-12-09T06:33:58Z- waiting for 1607495638.49, time is 1607495638.31 2020-12-09T06:33:58Z- sync is 0.40, coherence is 2.00 2020-12-09T06:33:59Z- AHRS_M2 msg: 1607495639.10 epoch sec; seqNo:619 2020-12-09T06:33:59Z- AHRS_M2 msg: 4.70 phi; -0.24 theta; -0.23 psi 2020-12-09T06:33:59Z- waiting for 1607495638.49, time is 1607495638.31 2020-12-09T06:33:59Z- sync is 0.79, coherence is 2.00 2020-12-09T06:33:59Z- handleDepth()-Depth_Keller msg: 31.54 epoch sec; seqNo:1607495639109; depth 0.00 2020-12-09T06:33:59Z- waiting for 1607495638.49, time is 1607495638.31 2020-12-09T06:33:59Z- sync is 0.79, coherence is 2.00 2020-12-09T06:33:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495639.12 epoch sec; seqNo:643; 4061666.42 north; 594501.62 east 2020-12-09T06:33:59Z- waiting for 1607495638.49, time is 1607495638.31 2020-12-09T06:33:59Z- sync is 0.81, coherence is 2.00 2020-12-09T06:33:59Z- AHRS_M2 msg: 1607495639.50 epoch sec; seqNo:620 2020-12-09T06:33:59Z- AHRS_M2 msg: 4.71 phi; -0.23 theta; -0.23 psi 2020-12-09T06:33:59Z- waiting for 1607495638.49, time is 1607495638.31 2020-12-09T06:33:59Z- sync is 1.19, coherence is 2.00 2020-12-09T06:33:59Z- handleDepth()-Depth_Keller msg: 31.63 epoch sec; seqNo:1607495639509; depth 0.00 2020-12-09T06:33:59Z- waiting for 1607495638.49, time is 1607495638.31 2020-12-09T06:33:59Z- sync is 1.19, coherence is 2.00 2020-12-09T06:33:59Z- handleDvl() - RDI_Pathfinder msg: 1607495639.52 epoch sec; seqNo:347 2020-12-09T06:33:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 50.36 , 67.23 , 49.81 , 66.69 2020-12-09T06:33:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.01 , -0.12 2020-12-09T06:33:59Z- waiting for 1607495638.49, time is 1607495639.52 2020-12-09T06:33:59Z- sync is 0.02, coherence is 2.00 2020-12-09T06:33:59Z- LcmTrn::updateTrn() >>>> pose time 1607495639.50, meas time 1607495639.52 <<<< 2020-12-09T06:33:59Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495639.52 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:33:59Z- TerrainNav::motionUpdate() - currEstimate = (4061666, 594501.62, 31.63) 2020-12-09T06:33:59Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:33:59Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:33:59Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:33:59Z- TNavBF::mmse selected from filter -1 2020-12-09T06:33:59Z- variances([0], [2], and psi_berg) = 809.683717 833.127024 0.000000 2020-12-09T06:33:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:33:59Z- LcmTrn::cycle() - MLE : 4061633.92 594551.12 31.63 2020-12-09T06:33:59Z- LcmTrn::cycle() - MMSE : 4061666.42 594501.62 31.63 2020-12-09T06:33:59Z- LcmTrn::cycle() - COVAR: 809.68 833.13 36.70 0.00 2020-12-09T06:33:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495639.53 epoch sec; seqNo:644; 4061666.42 north; 594501.62 east 2020-12-09T06:33:59Z- waiting for 1607495642.52, time is 1607495639.52 2020-12-09T06:33:59Z- sync is 0.01, coherence is 2.00 2020-12-09T06:33:59Z- AHRS_M2 msg: 1607495639.91 epoch sec; seqNo:621 2020-12-09T06:33:59Z- AHRS_M2 msg: 4.71 phi; -0.23 theta; -0.23 psi 2020-12-09T06:33:59Z- waiting for 1607495642.52, time is 1607495639.52 2020-12-09T06:33:59Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:59Z- handleDepth()-Depth_Keller msg: 31.72 epoch sec; seqNo:1607495639924; depth 0.00 2020-12-09T06:33:59Z- waiting for 1607495642.52, time is 1607495639.52 2020-12-09T06:33:59Z- sync is 0.39, coherence is 2.00 2020-12-09T06:33:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495639.94 epoch sec; seqNo:645; 4061666.41 north; 594500.40 east 2020-12-09T06:33:59Z- waiting for 1607495642.52, time is 1607495639.52 2020-12-09T06:33:59Z- sync is 0.41, coherence is 2.00 2020-12-09T06:34:00Z- AHRS_M2 msg: 1607495640.31 epoch sec; seqNo:622 2020-12-09T06:34:00Z- AHRS_M2 msg: 4.71 phi; -0.23 theta; -0.23 psi 2020-12-09T06:34:00Z- waiting for 1607495642.52, time is 1607495639.52 2020-12-09T06:34:00Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:00Z- handleDepth()-Depth_Keller msg: 31.80 epoch sec; seqNo:1607495640321; depth 0.00 2020-12-09T06:34:00Z- waiting for 1607495642.52, time is 1607495639.52 2020-12-09T06:34:00Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:00Z- handleDvl() - RDI_Pathfinder msg: 1607495640.34 epoch sec; seqNo:348 2020-12-09T06:34:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 50.08 , 66.42 , 49.81 , 65.87 2020-12-09T06:34:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , -0.02 , -0.05 2020-12-09T06:34:00Z- waiting for 1607495642.52, time is 1607495640.34 2020-12-09T06:34:00Z- sync is 0.03, coherence is 2.00 2020-12-09T06:34:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495640.35 epoch sec; seqNo:646; 4061666.41 north; 594500.40 east 2020-12-09T06:34:00Z- waiting for 1607495642.52, time is 1607495640.34 2020-12-09T06:34:00Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:00Z- AHRS_M2 msg: 1607495640.71 epoch sec; seqNo:623 2020-12-09T06:34:00Z- AHRS_M2 msg: 4.71 phi; -0.23 theta; -0.22 psi 2020-12-09T06:34:00Z- waiting for 1607495642.52, time is 1607495640.34 2020-12-09T06:34:00Z- sync is 0.37, coherence is 2.00 2020-12-09T06:34:00Z- handleDepth()-Depth_Keller msg: 31.86 epoch sec; seqNo:1607495640719; depth 0.00 2020-12-09T06:34:00Z- waiting for 1607495642.52, time is 1607495640.34 2020-12-09T06:34:00Z- sync is 0.37, coherence is 2.00 2020-12-09T06:34:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495640.73 epoch sec; seqNo:647; 4061666.41 north; 594500.40 east 2020-12-09T06:34:00Z- waiting for 1607495642.52, time is 1607495640.34 2020-12-09T06:34:00Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:01Z- AHRS_M2 msg: 1607495641.12 epoch sec; seqNo:624 2020-12-09T06:34:01Z- AHRS_M2 msg: 4.70 phi; -0.23 theta; -0.22 psi 2020-12-09T06:34:01Z- waiting for 1607495642.52, time is 1607495640.34 2020-12-09T06:34:01Z- sync is 0.77, coherence is 2.00 2020-12-09T06:34:01Z- handleDepth()-Depth_Keller msg: 31.94 epoch sec; seqNo:1607495641128; depth 0.00 2020-12-09T06:34:01Z- waiting for 1607495642.52, time is 1607495640.34 2020-12-09T06:34:01Z- sync is 0.77, coherence is 2.00 2020-12-09T06:34:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495641.14 epoch sec; seqNo:648; 4061666.40 north; 594499.18 east 2020-12-09T06:34:01Z- waiting for 1607495642.52, time is 1607495640.34 2020-12-09T06:34:01Z- sync is 0.80, coherence is 2.00 2020-12-09T06:34:01Z- AHRS_M2 msg: 1607495641.52 epoch sec; seqNo:625 2020-12-09T06:34:01Z- AHRS_M2 msg: 4.70 phi; -0.22 theta; -0.22 psi 2020-12-09T06:34:01Z- waiting for 1607495642.52, time is 1607495640.34 2020-12-09T06:34:01Z- sync is 1.18, coherence is 2.00 2020-12-09T06:34:01Z- handleDepth()-Depth_Keller msg: 32.04 epoch sec; seqNo:1607495641528; depth 0.00 2020-12-09T06:34:01Z- waiting for 1607495642.52, time is 1607495640.34 2020-12-09T06:34:01Z- sync is 1.18, coherence is 2.00 2020-12-09T06:34:01Z- handleDvl() - RDI_Pathfinder msg: 1607495641.55 epoch sec; seqNo:349 2020-12-09T06:34:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 50.08 , 66.14 , 49.54 , 64.78 2020-12-09T06:34:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , -0.03 , 0.07 2020-12-09T06:34:01Z- waiting for 1607495642.52, time is 1607495641.55 2020-12-09T06:34:01Z- sync is 0.03, coherence is 2.00 2020-12-09T06:34:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495641.56 epoch sec; seqNo:649; 4061666.40 north; 594499.18 east 2020-12-09T06:34:01Z- waiting for 1607495642.52, time is 1607495641.55 2020-12-09T06:34:01Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:01Z- AHRS_M2 msg: 1607495641.92 epoch sec; seqNo:626 2020-12-09T06:34:01Z- AHRS_M2 msg: 4.70 phi; -0.22 theta; -0.22 psi 2020-12-09T06:34:01Z- waiting for 1607495642.52, time is 1607495641.55 2020-12-09T06:34:01Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:01Z- handleDepth()-Depth_Keller msg: 32.14 epoch sec; seqNo:1607495641934; depth 0.00 2020-12-09T06:34:01Z- waiting for 1607495642.52, time is 1607495641.55 2020-12-09T06:34:01Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495641.96 epoch sec; seqNo:650; 4061666.40 north; 594499.18 east 2020-12-09T06:34:01Z- waiting for 1607495642.52, time is 1607495641.55 2020-12-09T06:34:01Z- sync is 0.41, coherence is 2.00 2020-12-09T06:34:02Z- AHRS_M2 msg: 1607495642.33 epoch sec; seqNo:627 2020-12-09T06:34:02Z- AHRS_M2 msg: 4.69 phi; -0.22 theta; -0.21 psi 2020-12-09T06:34:02Z- waiting for 1607495642.52, time is 1607495641.55 2020-12-09T06:34:02Z- sync is 0.78, coherence is 2.00 2020-12-09T06:34:02Z- handleDepth()-Depth_Keller msg: 32.22 epoch sec; seqNo:1607495642334; depth 0.00 2020-12-09T06:34:02Z- waiting for 1607495642.52, time is 1607495641.55 2020-12-09T06:34:02Z- sync is 0.78, coherence is 2.00 2020-12-09T06:34:02Z- handleDvl() - RDI_Pathfinder msg: 1607495642.35 epoch sec; seqNo:350 2020-12-09T06:34:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 50.08 , 64.78 , 49.54 , 64.78 2020-12-09T06:34:02Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.05 , 0.16 2020-12-09T06:34:02Z- waiting for 1607495642.52, time is 1607495642.35 2020-12-09T06:34:02Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495642.36 epoch sec; seqNo:651; 4061666.38 north; 594497.96 east 2020-12-09T06:34:02Z- waiting for 1607495642.52, time is 1607495642.35 2020-12-09T06:34:02Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:02Z- AHRS_M2 msg: 1607495642.73 epoch sec; seqNo:628 2020-12-09T06:34:02Z- AHRS_M2 msg: 4.69 phi; -0.22 theta; -0.21 psi 2020-12-09T06:34:02Z- waiting for 1607495642.52, time is 1607495642.35 2020-12-09T06:34:02Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:02Z- handleDepth()-Depth_Keller msg: 32.29 epoch sec; seqNo:1607495642746; depth 0.00 2020-12-09T06:34:02Z- waiting for 1607495642.52, time is 1607495642.35 2020-12-09T06:34:02Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495642.76 epoch sec; seqNo:652; 4061666.00 north; 594497.96 east 2020-12-09T06:34:02Z- waiting for 1607495642.52, time is 1607495642.35 2020-12-09T06:34:02Z- sync is 0.41, coherence is 2.00 2020-12-09T06:34:03Z- AHRS_M2 msg: 1607495643.14 epoch sec; seqNo:629 2020-12-09T06:34:03Z- AHRS_M2 msg: 4.69 phi; -0.22 theta; -0.21 psi 2020-12-09T06:34:03Z- waiting for 1607495642.52, time is 1607495642.35 2020-12-09T06:34:03Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:03Z- handleDepth()-Depth_Keller msg: 32.37 epoch sec; seqNo:1607495643141; depth 0.00 2020-12-09T06:34:03Z- waiting for 1607495642.52, time is 1607495642.35 2020-12-09T06:34:03Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495643.17 epoch sec; seqNo:653; 4061666.00 north; 594497.96 east 2020-12-09T06:34:03Z- waiting for 1607495642.52, time is 1607495642.35 2020-12-09T06:34:03Z- sync is 0.82, coherence is 2.00 2020-12-09T06:34:03Z- AHRS_M2 msg: 1607495643.54 epoch sec; seqNo:630 2020-12-09T06:34:03Z- AHRS_M2 msg: 4.68 phi; -0.23 theta; -0.21 psi 2020-12-09T06:34:03Z- waiting for 1607495642.52, time is 1607495642.35 2020-12-09T06:34:03Z- sync is 1.20, coherence is 2.00 2020-12-09T06:34:03Z- handleDepth()-Depth_Keller msg: 32.46 epoch sec; seqNo:1607495643549; depth 0.00 2020-12-09T06:34:03Z- waiting for 1607495642.52, time is 1607495642.35 2020-12-09T06:34:03Z- sync is 1.20, coherence is 2.00 2020-12-09T06:34:03Z- handleDvl() - RDI_Pathfinder msg: 1607495643.56 epoch sec; seqNo:351 2020-12-09T06:34:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 49.81 , 64.78 , 48.72 , 63.97 2020-12-09T06:34:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.05 , 0.21 2020-12-09T06:34:03Z- waiting for 1607495642.52, time is 1607495643.56 2020-12-09T06:34:03Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:03Z- LcmTrn::updateTrn() >>>> pose time 1607495643.54, meas time 1607495643.56 <<<< 2020-12-09T06:34:03Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495643.56 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:34:03Z- TerrainNav::motionUpdate() - currEstimate = (4061666, 594497.96, 32.46) 2020-12-09T06:34:03Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:34:03Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:34:03Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:34:03Z- TNavBF::mmse selected from filter -1 2020-12-09T06:34:03Z- variances([0], [2], and psi_berg) = 809.410134 833.126237 0.000000 2020-12-09T06:34:03Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:34:03Z- LcmTrn::cycle() - MLE : 4061633.50 594547.46 32.46 2020-12-09T06:34:03Z- LcmTrn::cycle() - MMSE : 4061666.00 594497.96 32.46 2020-12-09T06:34:03Z- LcmTrn::cycle() - COVAR: 809.41 833.13 36.89 0.00 2020-12-09T06:34:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495643.58 epoch sec; seqNo:654; 4061665.99 north; 594496.74 east 2020-12-09T06:34:03Z- waiting for 1607495646.56, time is 1607495643.56 2020-12-09T06:34:03Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:03Z- AHRS_M2 msg: 1607495643.95 epoch sec; seqNo:631 2020-12-09T06:34:03Z- AHRS_M2 msg: 4.68 phi; -0.23 theta; -0.22 psi 2020-12-09T06:34:03Z- waiting for 1607495646.56, time is 1607495643.56 2020-12-09T06:34:03Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:03Z- handleDepth()-Depth_Keller msg: 32.55 epoch sec; seqNo:1607495643952; depth 0.00 2020-12-09T06:34:03Z- waiting for 1607495646.56, time is 1607495643.56 2020-12-09T06:34:03Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495643.96 epoch sec; seqNo:655; 4061665.99 north; 594496.74 east 2020-12-09T06:34:03Z- waiting for 1607495646.56, time is 1607495643.56 2020-12-09T06:34:03Z- sync is 0.40, coherence is 2.00 2020-12-09T06:34:04Z- AHRS_M2 msg: 1607495644.35 epoch sec; seqNo:632 2020-12-09T06:34:04Z- AHRS_M2 msg: 4.68 phi; -0.23 theta; -0.22 psi 2020-12-09T06:34:04Z- waiting for 1607495646.56, time is 1607495643.56 2020-12-09T06:34:04Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:04Z- handleDepth()-Depth_Keller msg: 32.62 epoch sec; seqNo:1607495644499; depth 0.00 2020-12-09T06:34:04Z- waiting for 1607495646.56, time is 1607495643.56 2020-12-09T06:34:04Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:04Z- handleDvl() - RDI_Pathfinder msg: 1607495644.52 epoch sec; seqNo:352 2020-12-09T06:34:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 49.54 , 65.06 , 49.00 , 64.51 2020-12-09T06:34:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.05 , 0.18 2020-12-09T06:34:04Z- waiting for 1607495646.56, time is 1607495644.52 2020-12-09T06:34:04Z- sync is 0.17, coherence is 2.00 2020-12-09T06:34:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495644.53 epoch sec; seqNo:656; 4061665.99 north; 594496.74 east 2020-12-09T06:34:04Z- waiting for 1607495646.56, time is 1607495644.52 2020-12-09T06:34:04Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:04Z- AHRS_M2 msg: 1607495644.75 epoch sec; seqNo:633 2020-12-09T06:34:04Z- AHRS_M2 msg: 4.68 phi; -0.23 theta; -0.22 psi 2020-12-09T06:34:04Z- waiting for 1607495646.56, time is 1607495644.52 2020-12-09T06:34:04Z- sync is 0.24, coherence is 2.00 2020-12-09T06:34:04Z- handleDepth()-Depth_Keller msg: 32.74 epoch sec; seqNo:1607495644775; depth 0.00 2020-12-09T06:34:04Z- waiting for 1607495646.56, time is 1607495644.52 2020-12-09T06:34:04Z- sync is 0.24, coherence is 2.00 2020-12-09T06:34:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495644.81 epoch sec; seqNo:657; 4061665.98 north; 594495.52 east 2020-12-09T06:34:04Z- waiting for 1607495646.56, time is 1607495644.52 2020-12-09T06:34:04Z- sync is 0.30, coherence is 2.00 2020-12-09T06:34:05Z- AHRS_M2 msg: 1607495645.16 epoch sec; seqNo:634 2020-12-09T06:34:05Z- AHRS_M2 msg: 4.68 phi; -0.23 theta; -0.23 psi 2020-12-09T06:34:05Z- waiting for 1607495646.56, time is 1607495644.52 2020-12-09T06:34:05Z- sync is 0.64, coherence is 2.00 2020-12-09T06:34:05Z- handleDepth()-Depth_Keller msg: 32.80 epoch sec; seqNo:1607495645201; depth 0.00 2020-12-09T06:34:05Z- waiting for 1607495646.56, time is 1607495644.52 2020-12-09T06:34:05Z- sync is 0.64, coherence is 2.00 2020-12-09T06:34:05Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:05Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:05Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:05Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:34:05Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:34:05Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:34:05Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:34:05Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:34:05Z- handleDvl() - RDI_Pathfinder msg: 1607495645.20 epoch sec; seqNo:353 2020-12-09T06:34:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:34:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.05 , 0.18 2020-12-09T06:34:05Z- waiting for 1607495646.56, time is 1607495645.20 2020-12-09T06:34:05Z- sync is 0.05, coherence is 2.00 2020-12-09T06:34:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495645.22 epoch sec; seqNo:658; 4061665.98 north; 594495.52 east 2020-12-09T06:34:05Z- waiting for 1607495646.56, time is 1607495645.20 2020-12-09T06:34:05Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:05Z- handleDepth()-Depth_Keller msg: 32.87 epoch sec; seqNo:1607495645618; depth 0.00 2020-12-09T06:34:05Z- waiting for 1607495646.56, time is 1607495645.20 2020-12-09T06:34:05Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:05Z- handleDvl() - RDI_Pathfinder msg: 1607495645.63 epoch sec; seqNo:354 2020-12-09T06:34:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 49.81 , 65.32 , 48.99 , 64.23 2020-12-09T06:34:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.05 , 0.09 2020-12-09T06:34:05Z- waiting for 1607495646.56, time is 1607495645.63 2020-12-09T06:34:05Z- sync is 0.41, coherence is 2.00 2020-12-09T06:34:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495645.65 epoch sec; seqNo:659; 4061665.98 north; 594495.52 east 2020-12-09T06:34:05Z- waiting for 1607495646.56, time is 1607495645.63 2020-12-09T06:34:05Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:05Z- AHRS_M2 msg: 1607495645.97 epoch sec; seqNo:635 2020-12-09T06:34:05Z- AHRS_M2 msg: 4.69 phi; -0.23 theta; -0.23 psi 2020-12-09T06:34:05Z- waiting for 1607495646.56, time is 1607495645.63 2020-12-09T06:34:05Z- sync is 0.34, coherence is 2.00 2020-12-09T06:34:05Z- handleDepth()-Depth_Keller msg: 32.96 epoch sec; seqNo:1607495645979; depth 0.00 2020-12-09T06:34:05Z- waiting for 1607495646.56, time is 1607495645.63 2020-12-09T06:34:05Z- sync is 0.34, coherence is 2.00 2020-12-09T06:34:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495645.99 epoch sec; seqNo:660; 4061665.98 north; 594495.52 east 2020-12-09T06:34:05Z- waiting for 1607495646.56, time is 1607495645.63 2020-12-09T06:34:05Z- sync is 0.36, coherence is 2.00 2020-12-09T06:34:06Z- AHRS_M2 msg: 1607495646.37 epoch sec; seqNo:636 2020-12-09T06:34:06Z- AHRS_M2 msg: 4.69 phi; -0.23 theta; -0.23 psi 2020-12-09T06:34:06Z- waiting for 1607495646.56, time is 1607495645.63 2020-12-09T06:34:06Z- sync is 0.74, coherence is 2.00 2020-12-09T06:34:06Z- handleDepth()-Depth_Keller msg: 33.02 epoch sec; seqNo:1607495646374; depth 0.00 2020-12-09T06:34:06Z- waiting for 1607495646.56, time is 1607495645.63 2020-12-09T06:34:06Z- sync is 0.74, coherence is 2.00 2020-12-09T06:34:06Z- handleDvl() - RDI_Pathfinder msg: 1607495646.39 epoch sec; seqNo:355 2020-12-09T06:34:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 49.54 , 65.32 , 48.72 , 64.51 2020-12-09T06:34:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.05 , -0.03 2020-12-09T06:34:06Z- waiting for 1607495646.56, time is 1607495646.39 2020-12-09T06:34:06Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495646.41 epoch sec; seqNo:661; 4061665.96 north; 594494.30 east 2020-12-09T06:34:06Z- waiting for 1607495646.56, time is 1607495646.39 2020-12-09T06:34:06Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:06Z- AHRS_M2 msg: 1607495646.77 epoch sec; seqNo:637 2020-12-09T06:34:06Z- AHRS_M2 msg: 4.70 phi; -0.23 theta; -0.23 psi 2020-12-09T06:34:06Z- waiting for 1607495646.56, time is 1607495646.39 2020-12-09T06:34:06Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:06Z- handleDepth()-Depth_Keller msg: 33.10 epoch sec; seqNo:1607495646778; depth 0.00 2020-12-09T06:34:06Z- waiting for 1607495646.56, time is 1607495646.39 2020-12-09T06:34:06Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495646.79 epoch sec; seqNo:662; 4061665.96 north; 594494.30 east 2020-12-09T06:34:06Z- waiting for 1607495646.56, time is 1607495646.39 2020-12-09T06:34:06Z- sync is 0.40, coherence is 2.00 2020-12-09T06:34:07Z- AHRS_M2 msg: 1607495647.19 epoch sec; seqNo:638 2020-12-09T06:34:07Z- AHRS_M2 msg: 4.70 phi; -0.23 theta; -0.23 psi 2020-12-09T06:34:07Z- waiting for 1607495646.56, time is 1607495646.39 2020-12-09T06:34:07Z- sync is 0.80, coherence is 2.00 2020-12-09T06:34:07Z- handleDepth()-Depth_Keller msg: 33.15 epoch sec; seqNo:1607495647202; depth 0.00 2020-12-09T06:34:07Z- waiting for 1607495646.56, time is 1607495646.39 2020-12-09T06:34:07Z- sync is 0.80, coherence is 2.00 2020-12-09T06:34:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495647.22 epoch sec; seqNo:663; 4061665.96 north; 594494.30 east 2020-12-09T06:34:07Z- waiting for 1607495646.56, time is 1607495646.39 2020-12-09T06:34:07Z- sync is 0.83, coherence is 2.00 2020-12-09T06:34:07Z- AHRS_M2 msg: 1607495647.58 epoch sec; seqNo:639 2020-12-09T06:34:07Z- AHRS_M2 msg: 4.71 phi; -0.23 theta; -0.22 psi 2020-12-09T06:34:07Z- waiting for 1607495646.56, time is 1607495646.39 2020-12-09T06:34:07Z- sync is 1.20, coherence is 2.00 2020-12-09T06:34:07Z- handleDepth()-Depth_Keller msg: 33.24 epoch sec; seqNo:1607495647625; depth 0.00 2020-12-09T06:34:07Z- waiting for 1607495646.56, time is 1607495646.39 2020-12-09T06:34:07Z- sync is 1.20, coherence is 2.00 2020-12-09T06:34:07Z- handleDvl() - RDI_Pathfinder msg: 1607495647.64 epoch sec; seqNo:356 2020-12-09T06:34:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 49.54 , 64.51 , 48.45 , 64.23 2020-12-09T06:34:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.02 , -0.13 2020-12-09T06:34:07Z- waiting for 1607495646.56, time is 1607495647.64 2020-12-09T06:34:07Z- sync is 0.06, coherence is 2.00 2020-12-09T06:34:07Z- LcmTrn::updateTrn() >>>> pose time 1607495647.58, meas time 1607495647.64 <<<< 2020-12-09T06:34:07Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495647.64 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:34:07Z- TerrainNav::motionUpdate() - currEstimate = (4061666, 594494.30, 33.24) 2020-12-09T06:34:07Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:34:07Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:34:07Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:34:07Z- TNavBF::mmse selected from filter -1 2020-12-09T06:34:07Z- variances([0], [2], and psi_berg) = 809.139222 833.125465 0.000000 2020-12-09T06:34:07Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:34:07Z- LcmTrn::cycle() - MLE : 4061633.46 594543.80 33.24 2020-12-09T06:34:07Z- LcmTrn::cycle() - MMSE : 4061665.96 594494.30 33.24 2020-12-09T06:34:07Z- LcmTrn::cycle() - COVAR: 809.14 833.13 37.08 0.00 2020-12-09T06:34:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495647.66 epoch sec; seqNo:664; 4061665.96 north; 594494.30 east 2020-12-09T06:34:07Z- waiting for 1607495650.64, time is 1607495647.64 2020-12-09T06:34:07Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:07Z- handleDepth()-Depth_Keller msg: 33.32 epoch sec; seqNo:1607495648010; depth 0.00 2020-12-09T06:34:07Z- waiting for 1607495650.64, time is 1607495647.64 2020-12-09T06:34:07Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495648.03 epoch sec; seqNo:665; 4061665.95 north; 594493.08 east 2020-12-09T06:34:08Z- waiting for 1607495650.64, time is 1607495647.64 2020-12-09T06:34:08Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:08Z- AHRS_M2 msg: 1607495648.39 epoch sec; seqNo:640 2020-12-09T06:34:08Z- AHRS_M2 msg: 4.72 phi; -0.22 theta; -0.22 psi 2020-12-09T06:34:08Z- waiting for 1607495650.64, time is 1607495647.64 2020-12-09T06:34:08Z- sync is 0.75, coherence is 2.00 2020-12-09T06:34:08Z- handleDepth()-Depth_Keller msg: 33.38 epoch sec; seqNo:1607495648399; depth 0.00 2020-12-09T06:34:08Z- waiting for 1607495650.64, time is 1607495647.64 2020-12-09T06:34:08Z- sync is 0.75, coherence is 2.00 2020-12-09T06:34:08Z- handleDvl() - RDI_Pathfinder msg: 1607495648.41 epoch sec; seqNo:357 2020-12-09T06:34:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 48.99 , 63.69 , 47.90 , 63.42 2020-12-09T06:34:08Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.02 , -0.18 2020-12-09T06:34:08Z- waiting for 1607495650.64, time is 1607495648.41 2020-12-09T06:34:08Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495648.42 epoch sec; seqNo:666; 4061665.95 north; 594493.08 east 2020-12-09T06:34:08Z- waiting for 1607495650.64, time is 1607495648.41 2020-12-09T06:34:08Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:08Z- AHRS_M2 msg: 1607495648.80 epoch sec; seqNo:641 2020-12-09T06:34:08Z- AHRS_M2 msg: 4.73 phi; -0.22 theta; -0.21 psi 2020-12-09T06:34:08Z- waiting for 1607495650.64, time is 1607495648.41 2020-12-09T06:34:08Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:08Z- handleDepth()-Depth_Keller msg: 33.45 epoch sec; seqNo:1607495648807; depth 0.00 2020-12-09T06:34:08Z- waiting for 1607495650.64, time is 1607495648.41 2020-12-09T06:34:08Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:08Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:08Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:08Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:08Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:34:08Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:34:08Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:34:08Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:34:08Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:34:08Z- handleDvl() - RDI_Pathfinder msg: 1607495648.81 epoch sec; seqNo:358 2020-12-09T06:34:08Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:34:08Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.02 , -0.18 2020-12-09T06:34:08Z- waiting for 1607495650.64, time is 1607495648.81 2020-12-09T06:34:08Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495648.82 epoch sec; seqNo:667; 4061665.95 north; 594493.08 east 2020-12-09T06:34:08Z- waiting for 1607495650.64, time is 1607495648.81 2020-12-09T06:34:08Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:09Z- AHRS_M2 msg: 1607495649.21 epoch sec; seqNo:642 2020-12-09T06:34:09Z- AHRS_M2 msg: 4.74 phi; -0.21 theta; -0.20 psi 2020-12-09T06:34:09Z- waiting for 1607495650.64, time is 1607495648.81 2020-12-09T06:34:09Z- sync is 0.40, coherence is 2.00 2020-12-09T06:34:09Z- handleDepth()-Depth_Keller msg: 33.52 epoch sec; seqNo:1607495649235; depth 0.00 2020-12-09T06:34:09Z- waiting for 1607495650.64, time is 1607495648.81 2020-12-09T06:34:09Z- sync is 0.40, coherence is 2.00 2020-12-09T06:34:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495649.27 epoch sec; seqNo:668; 4061665.94 north; 594491.86 east 2020-12-09T06:34:09Z- waiting for 1607495650.64, time is 1607495648.81 2020-12-09T06:34:09Z- sync is 0.46, coherence is 2.00 2020-12-09T06:34:09Z- AHRS_M2 msg: 1607495649.60 epoch sec; seqNo:643 2020-12-09T06:34:09Z- AHRS_M2 msg: 4.74 phi; -0.21 theta; -0.20 psi 2020-12-09T06:34:09Z- waiting for 1607495650.64, time is 1607495648.81 2020-12-09T06:34:09Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:09Z- handleDepth()-Depth_Keller msg: 33.59 epoch sec; seqNo:1607495649614; depth 0.00 2020-12-09T06:34:09Z- waiting for 1607495650.64, time is 1607495648.81 2020-12-09T06:34:09Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:09Z- handleDvl() - RDI_Pathfinder msg: 1607495649.64 epoch sec; seqNo:359 2020-12-09T06:34:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 49.25 , 63.03 , 47.47 , 63.03 2020-12-09T06:34:09Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , 0.09 , -0.17 2020-12-09T06:34:09Z- waiting for 1607495650.64, time is 1607495649.64 2020-12-09T06:34:09Z- sync is 0.04, coherence is 2.00 2020-12-09T06:34:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495649.65 epoch sec; seqNo:669; 4061665.94 north; 594491.86 east 2020-12-09T06:34:09Z- waiting for 1607495650.64, time is 1607495649.64 2020-12-09T06:34:09Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:09Z- AHRS_M2 msg: 1607495650.01 epoch sec; seqNo:644 2020-12-09T06:34:09Z- AHRS_M2 msg: 4.74 phi; -0.21 theta; -0.19 psi 2020-12-09T06:34:09Z- waiting for 1607495650.64, time is 1607495649.64 2020-12-09T06:34:09Z- sync is 0.37, coherence is 2.00 2020-12-09T06:34:09Z- handleDepth()-Depth_Keller msg: 33.65 epoch sec; seqNo:1607495650010; depth 0.00 2020-12-09T06:34:09Z- waiting for 1607495650.64, time is 1607495649.64 2020-12-09T06:34:10Z- sync is 0.37, coherence is 2.00 2020-12-09T06:34:10Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:10Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:10Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:10Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:34:10Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:34:10Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:34:10Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:34:10Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:34:10Z- handleDvl() - RDI_Pathfinder msg: 1607495650.01 epoch sec; seqNo:360 2020-12-09T06:34:10Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:34:10Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , 0.09 , -0.17 2020-12-09T06:34:10Z- waiting for 1607495650.64, time is 1607495650.01 2020-12-09T06:34:10Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495650.03 epoch sec; seqNo:670; 4061665.94 north; 594491.86 east 2020-12-09T06:34:10Z- waiting for 1607495650.64, time is 1607495650.01 2020-12-09T06:34:10Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:10Z- AHRS_M2 msg: 1607495650.41 epoch sec; seqNo:645 2020-12-09T06:34:10Z- AHRS_M2 msg: 4.74 phi; -0.20 theta; -0.19 psi 2020-12-09T06:34:10Z- waiting for 1607495650.64, time is 1607495650.01 2020-12-09T06:34:10Z- sync is 0.40, coherence is 2.00 2020-12-09T06:34:10Z- handleDepth()-Depth_Keller msg: 33.72 epoch sec; seqNo:1607495650419; depth 0.00 2020-12-09T06:34:10Z- waiting for 1607495650.64, time is 1607495650.01 2020-12-09T06:34:10Z- sync is 0.40, coherence is 2.00 2020-12-09T06:34:10Z- handleDvl() - RDI_Pathfinder msg: 1607495650.43 epoch sec; seqNo:361 2020-12-09T06:34:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 48.49 , 61.50 , 46.96 , 62.01 2020-12-09T06:34:10Z- handleDvl() - RDI_Pathfinder msg: velocities 1.19 , 0.13 , -0.09 2020-12-09T06:34:10Z- waiting for 1607495650.64, time is 1607495650.43 2020-12-09T06:34:10Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495650.44 epoch sec; seqNo:671; 4061665.92 north; 594490.64 east 2020-12-09T06:34:10Z- waiting for 1607495650.64, time is 1607495650.43 2020-12-09T06:34:10Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:10Z- AHRS_M2 msg: 1607495650.81 epoch sec; seqNo:646 2020-12-09T06:34:10Z- AHRS_M2 msg: 4.74 phi; -0.20 theta; -0.19 psi 2020-12-09T06:34:10Z- waiting for 1607495650.64, time is 1607495650.43 2020-12-09T06:34:10Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:10Z- handleDepth()-Depth_Keller msg: 33.79 epoch sec; seqNo:1607495650831; depth 0.00 2020-12-09T06:34:10Z- waiting for 1607495650.64, time is 1607495650.43 2020-12-09T06:34:10Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495650.84 epoch sec; seqNo:672; 4061665.92 north; 594490.64 east 2020-12-09T06:34:10Z- waiting for 1607495650.64, time is 1607495650.43 2020-12-09T06:34:10Z- sync is 0.41, coherence is 2.00 2020-12-09T06:34:11Z- AHRS_M2 msg: 1607495651.22 epoch sec; seqNo:647 2020-12-09T06:34:11Z- AHRS_M2 msg: 4.73 phi; -0.20 theta; -0.19 psi 2020-12-09T06:34:11Z- waiting for 1607495650.64, time is 1607495650.43 2020-12-09T06:34:11Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:11Z- handleDepth()-Depth_Keller msg: 33.87 epoch sec; seqNo:1607495651260; depth 0.00 2020-12-09T06:34:11Z- waiting for 1607495650.64, time is 1607495650.43 2020-12-09T06:34:11Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:11Z- handleDvl() - RDI_Pathfinder msg: 1607495651.28 epoch sec; seqNo:362 2020-12-09T06:34:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 47.97 , 61.24 , 46.69 , 60.98 2020-12-09T06:34:11Z- handleDvl() - RDI_Pathfinder msg: velocities 1.21 , 0.13 , 0.03 2020-12-09T06:34:11Z- waiting for 1607495650.64, time is 1607495651.28 2020-12-09T06:34:11Z- sync is 0.06, coherence is 2.00 2020-12-09T06:34:11Z- LcmTrn::updateTrn() >>>> pose time 1607495651.22, meas time 1607495651.28 <<<< 2020-12-09T06:34:11Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495651.28 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:34:11Z- TerrainNav::motionUpdate() - currEstimate = (4061666, 594490.64, 33.87) 2020-12-09T06:34:11Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:34:11Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:34:11Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:34:11Z- TNavBF::mmse selected from filter -1 2020-12-09T06:34:11Z- variances([0], [2], and psi_berg) = 808.870212 833.124706 0.000000 2020-12-09T06:34:11Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:34:11Z- LcmTrn::cycle() - MLE : 4061633.42 594540.14 33.87 2020-12-09T06:34:11Z- LcmTrn::cycle() - MMSE : 4061665.92 594490.64 33.87 2020-12-09T06:34:11Z- LcmTrn::cycle() - COVAR: 808.87 833.12 37.26 0.00 2020-12-09T06:34:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495651.29 epoch sec; seqNo:673; 4061666.29 north; 594489.42 east 2020-12-09T06:34:11Z- waiting for 1607495654.28, time is 1607495651.28 2020-12-09T06:34:11Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:11Z- AHRS_M2 msg: 1607495651.62 epoch sec; seqNo:648 2020-12-09T06:34:11Z- AHRS_M2 msg: 4.73 phi; -0.20 theta; -0.19 psi 2020-12-09T06:34:11Z- waiting for 1607495654.28, time is 1607495651.28 2020-12-09T06:34:11Z- sync is 0.35, coherence is 2.00 2020-12-09T06:34:11Z- handleDepth()-Depth_Keller msg: 33.94 epoch sec; seqNo:1607495651645; depth 0.00 2020-12-09T06:34:11Z- waiting for 1607495654.28, time is 1607495651.28 2020-12-09T06:34:11Z- sync is 0.35, coherence is 2.00 2020-12-09T06:34:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495651.66 epoch sec; seqNo:674; 4061666.29 north; 594489.42 east 2020-12-09T06:34:11Z- waiting for 1607495654.28, time is 1607495651.28 2020-12-09T06:34:11Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:12Z- AHRS_M2 msg: 1607495652.03 epoch sec; seqNo:649 2020-12-09T06:34:12Z- AHRS_M2 msg: 4.72 phi; -0.20 theta; -0.19 psi 2020-12-09T06:34:12Z- waiting for 1607495654.28, time is 1607495651.28 2020-12-09T06:34:12Z- sync is 0.75, coherence is 2.00 2020-12-09T06:34:12Z- handleDepth()-Depth_Keller msg: 34.01 epoch sec; seqNo:1607495652036; depth 0.00 2020-12-09T06:34:12Z- waiting for 1607495654.28, time is 1607495651.28 2020-12-09T06:34:12Z- sync is 0.75, coherence is 2.00 2020-12-09T06:34:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495652.05 epoch sec; seqNo:675; 4061666.29 north; 594489.42 east 2020-12-09T06:34:12Z- waiting for 1607495654.28, time is 1607495651.28 2020-12-09T06:34:12Z- sync is 0.77, coherence is 2.00 2020-12-09T06:34:12Z- AHRS_M2 msg: 1607495652.43 epoch sec; seqNo:650 2020-12-09T06:34:12Z- AHRS_M2 msg: 4.71 phi; -0.20 theta; -0.20 psi 2020-12-09T06:34:12Z- waiting for 1607495654.28, time is 1607495651.28 2020-12-09T06:34:12Z- sync is 1.16, coherence is 2.00 2020-12-09T06:34:12Z- handleDepth()-Depth_Keller msg: 34.11 epoch sec; seqNo:1607495652443; depth 0.00 2020-12-09T06:34:12Z- waiting for 1607495654.28, time is 1607495651.28 2020-12-09T06:34:12Z- sync is 1.16, coherence is 2.00 2020-12-09T06:34:12Z- handleDvl() - RDI_Pathfinder msg: 1607495652.46 epoch sec; seqNo:363 2020-12-09T06:34:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 47.21 , 60.98 , 46.95 , 60.73 2020-12-09T06:34:12Z- handleDvl() - RDI_Pathfinder msg: velocities 1.19 , 0.11 , 0.14 2020-12-09T06:34:12Z- waiting for 1607495654.28, time is 1607495652.46 2020-12-09T06:34:12Z- sync is 0.03, coherence is 2.00 2020-12-09T06:34:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495652.47 epoch sec; seqNo:676; 4061666.28 north; 594488.20 east 2020-12-09T06:34:12Z- waiting for 1607495654.28, time is 1607495652.46 2020-12-09T06:34:12Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:12Z- AHRS_M2 msg: 1607495652.83 epoch sec; seqNo:651 2020-12-09T06:34:12Z- AHRS_M2 msg: 4.71 phi; -0.20 theta; -0.20 psi 2020-12-09T06:34:12Z- waiting for 1607495654.28, time is 1607495652.46 2020-12-09T06:34:12Z- sync is 0.37, coherence is 2.00 2020-12-09T06:34:12Z- handleDepth()-Depth_Keller msg: 34.17 epoch sec; seqNo:1607495652839; depth 0.00 2020-12-09T06:34:12Z- waiting for 1607495654.28, time is 1607495652.46 2020-12-09T06:34:12Z- sync is 0.37, coherence is 2.00 2020-12-09T06:34:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495652.85 epoch sec; seqNo:677; 4061666.28 north; 594488.20 east 2020-12-09T06:34:12Z- waiting for 1607495654.28, time is 1607495652.46 2020-12-09T06:34:12Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:13Z- AHRS_M2 msg: 1607495653.26 epoch sec; seqNo:652 2020-12-09T06:34:13Z- AHRS_M2 msg: 4.70 phi; -0.20 theta; -0.21 psi 2020-12-09T06:34:13Z- waiting for 1607495654.28, time is 1607495652.46 2020-12-09T06:34:13Z- sync is 0.80, coherence is 2.00 2020-12-09T06:34:13Z- handleDepth()-Depth_Keller msg: 34.26 epoch sec; seqNo:1607495653269; depth 0.00 2020-12-09T06:34:13Z- waiting for 1607495654.28, time is 1607495652.46 2020-12-09T06:34:13Z- sync is 0.80, coherence is 2.00 2020-12-09T06:34:13Z- handleDvl() - RDI_Pathfinder msg: 1607495653.29 epoch sec; seqNo:364 2020-12-09T06:34:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 46.95 , 62.26 , 46.69 , 60.73 2020-12-09T06:34:13Z- handleDvl() - RDI_Pathfinder msg: velocities 1.13 , 0.05 , 0.22 2020-12-09T06:34:13Z- waiting for 1607495654.28, time is 1607495653.29 2020-12-09T06:34:13Z- sync is 0.03, coherence is 2.00 2020-12-09T06:34:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495653.30 epoch sec; seqNo:678; 4061666.26 north; 594486.98 east 2020-12-09T06:34:13Z- waiting for 1607495654.28, time is 1607495653.29 2020-12-09T06:34:13Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:13Z- AHRS_M2 msg: 1607495653.64 epoch sec; seqNo:653 2020-12-09T06:34:13Z- AHRS_M2 msg: 4.70 phi; -0.20 theta; -0.21 psi 2020-12-09T06:34:13Z- waiting for 1607495654.28, time is 1607495653.29 2020-12-09T06:34:13Z- sync is 0.35, coherence is 2.00 2020-12-09T06:34:13Z- handleDepth()-Depth_Keller msg: 34.34 epoch sec; seqNo:1607495653659; depth 0.00 2020-12-09T06:34:13Z- waiting for 1607495654.28, time is 1607495653.29 2020-12-09T06:34:13Z- sync is 0.35, coherence is 2.00 2020-12-09T06:34:13Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:13Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:13Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:13Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:34:13Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:34:13Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:34:13Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:34:13Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:34:13Z- handleDvl() - RDI_Pathfinder msg: 1607495653.66 epoch sec; seqNo:365 2020-12-09T06:34:13Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:34:13Z- handleDvl() - RDI_Pathfinder msg: velocities 1.13 , 0.05 , 0.22 2020-12-09T06:34:13Z- waiting for 1607495654.28, time is 1607495653.66 2020-12-09T06:34:13Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495653.68 epoch sec; seqNo:679; 4061666.26 north; 594486.98 east 2020-12-09T06:34:13Z- waiting for 1607495654.28, time is 1607495653.66 2020-12-09T06:34:13Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:14Z- AHRS_M2 msg: 1607495654.05 epoch sec; seqNo:654 2020-12-09T06:34:14Z- AHRS_M2 msg: 4.69 phi; -0.21 theta; -0.22 psi 2020-12-09T06:34:14Z- waiting for 1607495654.28, time is 1607495653.66 2020-12-09T06:34:14Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:14Z- handleDepth()-Depth_Keller msg: 34.43 epoch sec; seqNo:1607495654050; depth 0.00 2020-12-09T06:34:14Z- waiting for 1607495654.28, time is 1607495653.66 2020-12-09T06:34:14Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495654.07 epoch sec; seqNo:680; 4061666.26 north; 594486.98 east 2020-12-09T06:34:14Z- waiting for 1607495654.28, time is 1607495653.66 2020-12-09T06:34:14Z- sync is 0.41, coherence is 2.00 2020-12-09T06:34:14Z- AHRS_M2 msg: 1607495654.45 epoch sec; seqNo:655 2020-12-09T06:34:14Z- AHRS_M2 msg: 4.69 phi; -0.21 theta; -0.22 psi 2020-12-09T06:34:14Z- waiting for 1607495654.28, time is 1607495653.66 2020-12-09T06:34:14Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:14Z- handleDepth()-Depth_Keller msg: 34.51 epoch sec; seqNo:1607495654458; depth 0.00 2020-12-09T06:34:14Z- waiting for 1607495654.28, time is 1607495653.66 2020-12-09T06:34:14Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:14Z- handleDvl() - RDI_Pathfinder msg: 1607495654.48 epoch sec; seqNo:366 2020-12-09T06:34:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 46.69 , 62.77 , 46.69 , 60.98 2020-12-09T06:34:14Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.00 , 0.24 2020-12-09T06:34:14Z- waiting for 1607495654.28, time is 1607495654.48 2020-12-09T06:34:14Z- sync is 0.03, coherence is 2.00 2020-12-09T06:34:14Z- LcmTrn::updateTrn() >>>> pose time 1607495654.45, meas time 1607495654.48 <<<< 2020-12-09T06:34:14Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495654.48 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:34:14Z- TerrainNav::motionUpdate() - currEstimate = (4061666, 594486.98, 34.51) 2020-12-09T06:34:14Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:34:14Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:34:14Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:34:14Z- TNavBF::mmse selected from filter -1 2020-12-09T06:34:14Z- variances([0], [2], and psi_berg) = 808.602356 833.123956 0.000000 2020-12-09T06:34:14Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:34:14Z- LcmTrn::cycle() - MLE : 4061633.76 594536.48 34.51 2020-12-09T06:34:14Z- LcmTrn::cycle() - MMSE : 4061666.26 594486.98 34.51 2020-12-09T06:34:14Z- LcmTrn::cycle() - COVAR: 808.60 833.12 37.45 0.00 2020-12-09T06:34:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495654.50 epoch sec; seqNo:681; 4061666.25 north; 594485.76 east 2020-12-09T06:34:14Z- waiting for 1607495657.48, time is 1607495654.48 2020-12-09T06:34:14Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:14Z- AHRS_M2 msg: 1607495654.85 epoch sec; seqNo:656 2020-12-09T06:34:14Z- AHRS_M2 msg: 4.69 phi; -0.21 theta; -0.23 psi 2020-12-09T06:34:14Z- waiting for 1607495657.48, time is 1607495654.48 2020-12-09T06:34:14Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:14Z- handleDepth()-Depth_Keller msg: 34.60 epoch sec; seqNo:1607495654866; depth 0.00 2020-12-09T06:34:14Z- waiting for 1607495657.48, time is 1607495654.48 2020-12-09T06:34:14Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495654.88 epoch sec; seqNo:682; 4061666.25 north; 594485.76 east 2020-12-09T06:34:14Z- waiting for 1607495657.48, time is 1607495654.48 2020-12-09T06:34:14Z- sync is 0.40, coherence is 2.00 2020-12-09T06:34:15Z- AHRS_M2 msg: 1607495655.27 epoch sec; seqNo:657 2020-12-09T06:34:15Z- AHRS_M2 msg: 4.69 phi; -0.21 theta; -0.23 psi 2020-12-09T06:34:15Z- waiting for 1607495657.48, time is 1607495654.48 2020-12-09T06:34:15Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:15Z- handleDepth()-Depth_Keller msg: 34.68 epoch sec; seqNo:1607495655279; depth 0.00 2020-12-09T06:34:15Z- waiting for 1607495657.48, time is 1607495654.48 2020-12-09T06:34:15Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:15Z- handleDvl() - RDI_Pathfinder msg: 1607495655.29 epoch sec; seqNo:367 2020-12-09T06:34:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 46.69 , 63.28 , 46.95 , 61.49 2020-12-09T06:34:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.06 , 0.22 2020-12-09T06:34:15Z- waiting for 1607495657.48, time is 1607495655.29 2020-12-09T06:34:15Z- sync is 0.03, coherence is 2.00 2020-12-09T06:34:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495655.31 epoch sec; seqNo:683; 4061666.25 north; 594485.76 east 2020-12-09T06:34:15Z- waiting for 1607495657.48, time is 1607495655.29 2020-12-09T06:34:15Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:15Z- AHRS_M2 msg: 1607495655.66 epoch sec; seqNo:658 2020-12-09T06:34:15Z- AHRS_M2 msg: 4.69 phi; -0.21 theta; -0.23 psi 2020-12-09T06:34:15Z- waiting for 1607495657.48, time is 1607495655.29 2020-12-09T06:34:15Z- sync is 0.37, coherence is 2.00 2020-12-09T06:34:15Z- handleDepth()-Depth_Keller msg: 34.78 epoch sec; seqNo:1607495655666; depth 0.00 2020-12-09T06:34:15Z- waiting for 1607495657.48, time is 1607495655.29 2020-12-09T06:34:15Z- sync is 0.37, coherence is 2.00 2020-12-09T06:34:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495655.68 epoch sec; seqNo:684; 4061666.25 north; 594485.76 east 2020-12-09T06:34:15Z- waiting for 1607495657.48, time is 1607495655.29 2020-12-09T06:34:15Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:16Z- AHRS_M2 msg: 1607495656.07 epoch sec; seqNo:659 2020-12-09T06:34:16Z- AHRS_M2 msg: 4.69 phi; -0.21 theta; -0.23 psi 2020-12-09T06:34:16Z- waiting for 1607495657.48, time is 1607495655.29 2020-12-09T06:34:16Z- sync is 0.77, coherence is 2.00 2020-12-09T06:34:16Z- handleDepth()-Depth_Keller msg: 34.86 epoch sec; seqNo:1607495656073; depth 0.00 2020-12-09T06:34:16Z- waiting for 1607495657.48, time is 1607495655.29 2020-12-09T06:34:16Z- sync is 0.77, coherence is 2.00 2020-12-09T06:34:16Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:16Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:16Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:16Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:34:16Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:34:16Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:34:16Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:34:16Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:34:16Z- handleDvl() - RDI_Pathfinder msg: 1607495656.08 epoch sec; seqNo:368 2020-12-09T06:34:16Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:34:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.06 , 0.22 2020-12-09T06:34:16Z- waiting for 1607495657.48, time is 1607495656.08 2020-12-09T06:34:16Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495656.08 epoch sec; seqNo:685; 4061666.23 north; 594484.54 east 2020-12-09T06:34:16Z- waiting for 1607495657.48, time is 1607495656.08 2020-12-09T06:34:16Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:16Z- AHRS_M2 msg: 1607495656.47 epoch sec; seqNo:660 2020-12-09T06:34:16Z- AHRS_M2 msg: 4.70 phi; -0.21 theta; -0.23 psi 2020-12-09T06:34:16Z- waiting for 1607495657.48, time is 1607495656.08 2020-12-09T06:34:16Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:16Z- handleDepth()-Depth_Keller msg: 34.92 epoch sec; seqNo:1607495656492; depth 0.00 2020-12-09T06:34:16Z- waiting for 1607495657.48, time is 1607495656.08 2020-12-09T06:34:16Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:16Z- handleDvl() - RDI_Pathfinder msg: 1607495656.51 epoch sec; seqNo:369 2020-12-09T06:34:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 46.69 , 63.28 , 46.69 , 61.24 2020-12-09T06:34:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.09 , 0.16 2020-12-09T06:34:16Z- waiting for 1607495657.48, time is 1607495656.51 2020-12-09T06:34:16Z- sync is 0.04, coherence is 2.00 2020-12-09T06:34:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495656.53 epoch sec; seqNo:686; 4061666.23 north; 594484.54 east 2020-12-09T06:34:16Z- waiting for 1607495657.48, time is 1607495656.51 2020-12-09T06:34:16Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:16Z- AHRS_M2 msg: 1607495656.87 epoch sec; seqNo:661 2020-12-09T06:34:16Z- AHRS_M2 msg: 4.70 phi; -0.21 theta; -0.23 psi 2020-12-09T06:34:16Z- waiting for 1607495657.48, time is 1607495656.51 2020-12-09T06:34:16Z- sync is 0.36, coherence is 2.00 2020-12-09T06:34:16Z- handleDepth()-Depth_Keller msg: 35.03 epoch sec; seqNo:1607495656879; depth 0.00 2020-12-09T06:34:16Z- waiting for 1607495657.48, time is 1607495656.51 2020-12-09T06:34:16Z- sync is 0.36, coherence is 2.00 2020-12-09T06:34:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495656.89 epoch sec; seqNo:687; 4061666.23 north; 594484.54 east 2020-12-09T06:34:16Z- waiting for 1607495657.48, time is 1607495656.51 2020-12-09T06:34:16Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:17Z- AHRS_M2 msg: 1607495657.28 epoch sec; seqNo:662 2020-12-09T06:34:17Z- AHRS_M2 msg: 4.70 phi; -0.20 theta; -0.23 psi 2020-12-09T06:34:17Z- waiting for 1607495657.48, time is 1607495656.51 2020-12-09T06:34:17Z- sync is 0.77, coherence is 2.00 2020-12-09T06:34:17Z- handleDepth()-Depth_Keller msg: 35.10 epoch sec; seqNo:1607495657286; depth 0.00 2020-12-09T06:34:17Z- waiting for 1607495657.48, time is 1607495656.51 2020-12-09T06:34:17Z- sync is 0.77, coherence is 2.00 2020-12-09T06:34:17Z- handleDvl() - RDI_Pathfinder msg: 1607495657.30 epoch sec; seqNo:370 2020-12-09T06:34:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 46.96 , 62.27 , 46.44 , 61.25 2020-12-09T06:34:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.12 , 0.08 2020-12-09T06:34:17Z- waiting for 1607495657.48, time is 1607495657.30 2020-12-09T06:34:17Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495657.31 epoch sec; seqNo:688; 4061666.22 north; 594483.32 east 2020-12-09T06:34:17Z- waiting for 1607495657.48, time is 1607495657.30 2020-12-09T06:34:17Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:17Z- AHRS_M2 msg: 1607495657.68 epoch sec; seqNo:663 2020-12-09T06:34:17Z- AHRS_M2 msg: 4.71 phi; -0.20 theta; -0.23 psi 2020-12-09T06:34:17Z- waiting for 1607495657.48, time is 1607495657.30 2020-12-09T06:34:17Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:17Z- handleDepth()-Depth_Keller msg: 35.17 epoch sec; seqNo:1607495657768; depth 0.00 2020-12-09T06:34:17Z- waiting for 1607495657.48, time is 1607495657.30 2020-12-09T06:34:17Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495657.78 epoch sec; seqNo:689; 4061666.22 north; 594483.32 east 2020-12-09T06:34:17Z- waiting for 1607495657.48, time is 1607495657.30 2020-12-09T06:34:17Z- sync is 0.48, coherence is 2.00 2020-12-09T06:34:18Z- AHRS_M2 msg: 1607495658.09 epoch sec; seqNo:664 2020-12-09T06:34:18Z- AHRS_M2 msg: 4.71 phi; -0.20 theta; -0.23 psi 2020-12-09T06:34:18Z- waiting for 1607495657.48, time is 1607495657.30 2020-12-09T06:34:18Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:18Z- handleDepth()-Depth_Keller msg: 35.26 epoch sec; seqNo:1607495658171; depth 0.00 2020-12-09T06:34:18Z- waiting for 1607495657.48, time is 1607495657.30 2020-12-09T06:34:18Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495658.18 epoch sec; seqNo:690; 4061666.22 north; 594483.32 east 2020-12-09T06:34:18Z- waiting for 1607495657.48, time is 1607495657.30 2020-12-09T06:34:18Z- sync is 0.88, coherence is 2.00 2020-12-09T06:34:18Z- AHRS_M2 msg: 1607495658.49 epoch sec; seqNo:665 2020-12-09T06:34:18Z- AHRS_M2 msg: 4.71 phi; -0.20 theta; -0.23 psi 2020-12-09T06:34:18Z- waiting for 1607495657.48, time is 1607495657.30 2020-12-09T06:34:18Z- sync is 1.19, coherence is 2.00 2020-12-09T06:34:18Z- handleDepth()-Depth_Keller msg: 35.34 epoch sec; seqNo:1607495658522; depth 0.00 2020-12-09T06:34:18Z- waiting for 1607495657.48, time is 1607495657.30 2020-12-09T06:34:18Z- sync is 1.19, coherence is 2.00 2020-12-09T06:34:18Z- handleDvl() - RDI_Pathfinder msg: 1607495658.57 epoch sec; seqNo:371 2020-12-09T06:34:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 46.70 , 62.01 , 45.93 , 60.74 2020-12-09T06:34:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.10 , 0.01 2020-12-09T06:34:18Z- waiting for 1607495657.48, time is 1607495658.57 2020-12-09T06:34:18Z- sync is 0.08, coherence is 2.00 2020-12-09T06:34:18Z- LcmTrn::updateTrn() >>>> pose time 1607495658.49, meas time 1607495658.57 <<<< 2020-12-09T06:34:18Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495658.57 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:34:18Z- TerrainNav::motionUpdate() - currEstimate = (4061666, 594483.32, 35.34) 2020-12-09T06:34:18Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:34:18Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:34:18Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:34:18Z- TNavBF::mmse selected from filter -1 2020-12-09T06:34:18Z- variances([0], [2], and psi_berg) = 808.337051 833.123220 0.000000 2020-12-09T06:34:18Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:34:18Z- LcmTrn::cycle() - MLE : 4061633.72 594532.82 35.34 2020-12-09T06:34:18Z- LcmTrn::cycle() - MMSE : 4061666.22 594483.32 35.34 2020-12-09T06:34:18Z- LcmTrn::cycle() - COVAR: 808.34 833.12 37.64 0.00 2020-12-09T06:34:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495658.59 epoch sec; seqNo:691; 4061666.21 north; 594482.10 east 2020-12-09T06:34:18Z- waiting for 1607495661.57, time is 1607495658.57 2020-12-09T06:34:18Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:18Z- AHRS_M2 msg: 1607495658.89 epoch sec; seqNo:666 2020-12-09T06:34:18Z- AHRS_M2 msg: 4.71 phi; -0.20 theta; -0.22 psi 2020-12-09T06:34:18Z- waiting for 1607495661.57, time is 1607495658.57 2020-12-09T06:34:18Z- sync is 0.33, coherence is 2.00 2020-12-09T06:34:18Z- handleDepth()-Depth_Keller msg: 35.41 epoch sec; seqNo:1607495658930; depth 0.00 2020-12-09T06:34:18Z- waiting for 1607495661.57, time is 1607495658.57 2020-12-09T06:34:18Z- sync is 0.33, coherence is 2.00 2020-12-09T06:34:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495658.94 epoch sec; seqNo:692; 4061666.21 north; 594482.10 east 2020-12-09T06:34:18Z- waiting for 1607495661.57, time is 1607495658.57 2020-12-09T06:34:18Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:19Z- AHRS_M2 msg: 1607495659.30 epoch sec; seqNo:667 2020-12-09T06:34:19Z- AHRS_M2 msg: 4.71 phi; -0.20 theta; -0.23 psi 2020-12-09T06:34:19Z- waiting for 1607495661.57, time is 1607495658.57 2020-12-09T06:34:19Z- sync is 0.73, coherence is 2.00 2020-12-09T06:34:19Z- handleDepth()-Depth_Keller msg: 35.48 epoch sec; seqNo:1607495659322; depth 0.00 2020-12-09T06:34:19Z- waiting for 1607495661.57, time is 1607495658.57 2020-12-09T06:34:19Z- sync is 0.73, coherence is 2.00 2020-12-09T06:34:19Z- handleDvl() - RDI_Pathfinder msg: 1607495659.33 epoch sec; seqNo:372 2020-12-09T06:34:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 46.44 , 61.49 , 45.42 , 60.73 2020-12-09T06:34:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.07 , -0.04 2020-12-09T06:34:19Z- waiting for 1607495661.57, time is 1607495659.33 2020-12-09T06:34:19Z- sync is 0.04, coherence is 2.00 2020-12-09T06:34:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495659.35 epoch sec; seqNo:693; 4061666.21 north; 594482.10 east 2020-12-09T06:34:19Z- waiting for 1607495661.57, time is 1607495659.33 2020-12-09T06:34:19Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:19Z- AHRS_M2 msg: 1607495659.70 epoch sec; seqNo:668 2020-12-09T06:34:19Z- AHRS_M2 msg: 4.72 phi; -0.20 theta; -0.22 psi 2020-12-09T06:34:19Z- waiting for 1607495661.57, time is 1607495659.33 2020-12-09T06:34:19Z- sync is 0.37, coherence is 2.00 2020-12-09T06:34:19Z- handleDepth()-Depth_Keller msg: 35.55 epoch sec; seqNo:1607495659706; depth 0.00 2020-12-09T06:34:19Z- waiting for 1607495661.57, time is 1607495659.33 2020-12-09T06:34:19Z- sync is 0.37, coherence is 2.00 2020-12-09T06:34:19Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:19Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:19Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:19Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:34:19Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:34:19Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:34:19Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:34:19Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:34:19Z- handleDvl() - RDI_Pathfinder msg: 1607495659.71 epoch sec; seqNo:373 2020-12-09T06:34:19Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:34:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.07 , -0.04 2020-12-09T06:34:19Z- waiting for 1607495661.57, time is 1607495659.71 2020-12-09T06:34:19Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495659.74 epoch sec; seqNo:694; 4061666.21 north; 594482.10 east 2020-12-09T06:34:19Z- waiting for 1607495661.57, time is 1607495659.71 2020-12-09T06:34:19Z- sync is 0.03, coherence is 2.00 2020-12-09T06:34:20Z- AHRS_M2 msg: 1607495660.11 epoch sec; seqNo:669 2020-12-09T06:34:20Z- AHRS_M2 msg: 4.72 phi; -0.20 theta; -0.23 psi 2020-12-09T06:34:20Z- waiting for 1607495661.57, time is 1607495659.71 2020-12-09T06:34:20Z- sync is 0.40, coherence is 2.00 2020-12-09T06:34:20Z- handleDepth()-Depth_Keller msg: 35.61 epoch sec; seqNo:1607495660111; depth 0.00 2020-12-09T06:34:20Z- waiting for 1607495661.57, time is 1607495659.71 2020-12-09T06:34:20Z- sync is 0.40, coherence is 2.00 2020-12-09T06:34:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495660.12 epoch sec; seqNo:695; 4061665.82 north; 594480.88 east 2020-12-09T06:34:20Z- waiting for 1607495661.57, time is 1607495659.71 2020-12-09T06:34:20Z- sync is 0.41, coherence is 2.00 2020-12-09T06:34:20Z- AHRS_M2 msg: 1607495660.51 epoch sec; seqNo:670 2020-12-09T06:34:20Z- AHRS_M2 msg: 4.72 phi; -0.20 theta; -0.22 psi 2020-12-09T06:34:20Z- waiting for 1607495661.57, time is 1607495659.71 2020-12-09T06:34:20Z- sync is 0.80, coherence is 2.00 2020-12-09T06:34:20Z- handleDepth()-Depth_Keller msg: 35.68 epoch sec; seqNo:1607495660522; depth 0.00 2020-12-09T06:34:20Z- waiting for 1607495661.57, time is 1607495659.71 2020-12-09T06:34:20Z- sync is 0.80, coherence is 2.00 2020-12-09T06:34:20Z- handleDvl() - RDI_Pathfinder msg: 1607495660.53 epoch sec; seqNo:374 2020-12-09T06:34:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 45.93 , 60.98 , 45.42 , 60.22 2020-12-09T06:34:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.03 , -0.07 2020-12-09T06:34:20Z- waiting for 1607495661.57, time is 1607495660.53 2020-12-09T06:34:20Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495660.54 epoch sec; seqNo:696; 4061665.82 north; 594480.88 east 2020-12-09T06:34:20Z- waiting for 1607495661.57, time is 1607495660.53 2020-12-09T06:34:20Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:20Z- AHRS_M2 msg: 1607495660.91 epoch sec; seqNo:671 2020-12-09T06:34:20Z- AHRS_M2 msg: 4.72 phi; -0.20 theta; -0.22 psi 2020-12-09T06:34:20Z- waiting for 1607495661.57, time is 1607495660.53 2020-12-09T06:34:20Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:20Z- handleDepth()-Depth_Keller msg: 35.75 epoch sec; seqNo:1607495660918; depth 0.00 2020-12-09T06:34:20Z- waiting for 1607495661.57, time is 1607495660.53 2020-12-09T06:34:20Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495660.94 epoch sec; seqNo:697; 4061665.82 north; 594480.88 east 2020-12-09T06:34:20Z- waiting for 1607495661.57, time is 1607495660.53 2020-12-09T06:34:20Z- sync is 0.40, coherence is 2.00 2020-12-09T06:34:21Z- AHRS_M2 msg: 1607495661.32 epoch sec; seqNo:672 2020-12-09T06:34:21Z- AHRS_M2 msg: 4.73 phi; -0.20 theta; -0.21 psi 2020-12-09T06:34:21Z- waiting for 1607495661.57, time is 1607495660.53 2020-12-09T06:34:21Z- sync is 0.78, coherence is 2.00 2020-12-09T06:34:21Z- handleDepth()-Depth_Keller msg: 35.81 epoch sec; seqNo:1607495661326; depth 0.00 2020-12-09T06:34:21Z- waiting for 1607495661.57, time is 1607495660.53 2020-12-09T06:34:21Z- sync is 0.78, coherence is 2.00 2020-12-09T06:34:21Z- handleDvl() - RDI_Pathfinder msg: 1607495661.34 epoch sec; seqNo:375 2020-12-09T06:34:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 45.93 , 59.71 , 44.65 , 59.45 2020-12-09T06:34:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.02 , -0.08 2020-12-09T06:34:21Z- waiting for 1607495661.57, time is 1607495661.34 2020-12-09T06:34:21Z- sync is 0.03, coherence is 2.00 2020-12-09T06:34:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495661.37 epoch sec; seqNo:698; 4061665.80 north; 594479.66 east 2020-12-09T06:34:21Z- waiting for 1607495661.57, time is 1607495661.34 2020-12-09T06:34:21Z- sync is 0.03, coherence is 2.00 2020-12-09T06:34:21Z- AHRS_M2 msg: 1607495661.72 epoch sec; seqNo:673 2020-12-09T06:34:21Z- AHRS_M2 msg: 4.73 phi; -0.20 theta; -0.21 psi 2020-12-09T06:34:21Z- waiting for 1607495661.57, time is 1607495661.34 2020-12-09T06:34:21Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:21Z- handleDepth()-Depth_Keller msg: 35.87 epoch sec; seqNo:1607495661742; depth 0.00 2020-12-09T06:34:21Z- waiting for 1607495661.57, time is 1607495661.34 2020-12-09T06:34:21Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495661.75 epoch sec; seqNo:699; 4061665.80 north; 594479.66 east 2020-12-09T06:34:21Z- waiting for 1607495661.57, time is 1607495661.34 2020-12-09T06:34:21Z- sync is 0.41, coherence is 2.00 2020-12-09T06:34:22Z- AHRS_M2 msg: 1607495662.13 epoch sec; seqNo:674 2020-12-09T06:34:22Z- AHRS_M2 msg: 4.73 phi; -0.19 theta; -0.21 psi 2020-12-09T06:34:22Z- waiting for 1607495661.57, time is 1607495661.34 2020-12-09T06:34:22Z- sync is 0.78, coherence is 2.00 2020-12-09T06:34:22Z- handleDepth()-Depth_Keller msg: 35.92 epoch sec; seqNo:1607495662138; depth 0.00 2020-12-09T06:34:22Z- waiting for 1607495661.57, time is 1607495661.34 2020-12-09T06:34:22Z- sync is 0.78, coherence is 2.00 2020-12-09T06:34:22Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:22Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:22Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:22Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:34:22Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:34:22Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:34:22Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:34:22Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:34:22Z- handleDvl() - RDI_Pathfinder msg: 1607495662.14 epoch sec; seqNo:376 2020-12-09T06:34:22Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:34:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.02 , -0.08 2020-12-09T06:34:22Z- waiting for 1607495661.57, time is 1607495662.14 2020-12-09T06:34:22Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:22Z- LcmTrn::updateTrn() >>>> pose time 1607495662.13, meas time 1607495662.14 <<<< 2020-12-09T06:34:22Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495662.14, ping # 0. 2020-12-09T06:34:22Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495662.14 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:34:22Z- TerrainNav::motionUpdate() - currEstimate = (4061666, 594479.66, 35.92) 2020-12-09T06:34:22Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:34:22Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:34:22Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:34:22Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:34:22Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:34:22Z- TNavBF::mmse selected from filter -1 2020-12-09T06:34:22Z- variances([0], [2], and psi_berg) = 808.072845 833.122494 0.000000 2020-12-09T06:34:22Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:34:22Z- LcmTrn::cycle() - MLE : 4061633.30 594529.16 35.92 2020-12-09T06:34:22Z- LcmTrn::cycle() - MMSE : 4061665.80 594479.66 35.92 2020-12-09T06:34:22Z- LcmTrn::cycle() - COVAR: 808.07 833.12 37.82 0.00 2020-12-09T06:34:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495662.16 epoch sec; seqNo:700; 4061665.80 north; 594479.66 east 2020-12-09T06:34:22Z- waiting for 1607495665.14, time is 1607495662.14 2020-12-09T06:34:22Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:22Z- AHRS_M2 msg: 1607495662.53 epoch sec; seqNo:675 2020-12-09T06:34:22Z- AHRS_M2 msg: 4.73 phi; -0.19 theta; -0.20 psi 2020-12-09T06:34:22Z- waiting for 1607495665.14, time is 1607495662.14 2020-12-09T06:34:22Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:22Z- handleDepth()-Depth_Keller msg: 35.99 epoch sec; seqNo:1607495662536; depth 0.00 2020-12-09T06:34:22Z- waiting for 1607495665.14, time is 1607495662.14 2020-12-09T06:34:22Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:22Z- handleDvl() - RDI_Pathfinder msg: 1607495662.55 epoch sec; seqNo:377 2020-12-09T06:34:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 45.73 , 59.30 , 44.30 , 59.30 2020-12-09T06:34:22Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.06 , -0.06 2020-12-09T06:34:22Z- waiting for 1607495665.14, time is 1607495662.55 2020-12-09T06:34:22Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495662.58 epoch sec; seqNo:701; 4061666.17 north; 594478.43 east 2020-12-09T06:34:22Z- waiting for 1607495665.14, time is 1607495662.55 2020-12-09T06:34:22Z- sync is 0.03, coherence is 2.00 2020-12-09T06:34:22Z- handleDepth()-Depth_Keller msg: 36.05 epoch sec; seqNo:1607495662954; depth 0.00 2020-12-09T06:34:22Z- waiting for 1607495665.14, time is 1607495662.55 2020-12-09T06:34:22Z- sync is 0.03, coherence is 2.00 2020-12-09T06:34:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495662.97 epoch sec; seqNo:702; 4061666.17 north; 594478.43 east 2020-12-09T06:34:22Z- waiting for 1607495665.14, time is 1607495662.55 2020-12-09T06:34:22Z- sync is 0.42, coherence is 2.00 2020-12-09T06:34:23Z- AHRS_M2 msg: 1607495663.34 epoch sec; seqNo:676 2020-12-09T06:34:23Z- AHRS_M2 msg: 4.73 phi; -0.19 theta; -0.20 psi 2020-12-09T06:34:23Z- waiting for 1607495665.14, time is 1607495662.55 2020-12-09T06:34:23Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:23Z- handleDepth()-Depth_Keller msg: 36.10 epoch sec; seqNo:1607495663343; depth 0.00 2020-12-09T06:34:23Z- waiting for 1607495665.14, time is 1607495662.55 2020-12-09T06:34:23Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:23Z- handleDvl() - RDI_Pathfinder msg: 1607495663.36 epoch sec; seqNo:378 2020-12-09T06:34:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 45.73 , 58.82 , 43.82 , 58.82 2020-12-09T06:34:23Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , 0.09 , -0.03 2020-12-09T06:34:23Z- waiting for 1607495665.14, time is 1607495663.36 2020-12-09T06:34:23Z- sync is 0.03, coherence is 2.00 2020-12-09T06:34:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495663.38 epoch sec; seqNo:703; 4061666.17 north; 594478.43 east 2020-12-09T06:34:23Z- waiting for 1607495665.14, time is 1607495663.36 2020-12-09T06:34:23Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:23Z- AHRS_M2 msg: 1607495663.75 epoch sec; seqNo:677 2020-12-09T06:34:23Z- AHRS_M2 msg: 4.73 phi; -0.19 theta; -0.21 psi 2020-12-09T06:34:23Z- waiting for 1607495665.14, time is 1607495663.36 2020-12-09T06:34:23Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:23Z- handleDepth()-Depth_Keller msg: 36.16 epoch sec; seqNo:1607495663758; depth 0.00 2020-12-09T06:34:23Z- waiting for 1607495665.14, time is 1607495663.36 2020-12-09T06:34:23Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495663.79 epoch sec; seqNo:704; 4061666.15 north; 594477.21 east 2020-12-09T06:34:23Z- waiting for 1607495665.14, time is 1607495663.36 2020-12-09T06:34:23Z- sync is 0.43, coherence is 2.00 2020-12-09T06:34:24Z- AHRS_M2 msg: 1607495664.15 epoch sec; seqNo:678 2020-12-09T06:34:24Z- AHRS_M2 msg: 4.73 phi; -0.19 theta; -0.21 psi 2020-12-09T06:34:24Z- waiting for 1607495665.14, time is 1607495663.36 2020-12-09T06:34:24Z- sync is 0.78, coherence is 2.00 2020-12-09T06:34:24Z- handleDepth()-Depth_Keller msg: 36.23 epoch sec; seqNo:1607495664150; depth 0.00 2020-12-09T06:34:24Z- waiting for 1607495665.14, time is 1607495663.36 2020-12-09T06:34:24Z- sync is 0.78, coherence is 2.00 2020-12-09T06:34:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495664.16 epoch sec; seqNo:705; 4061666.15 north; 594477.21 east 2020-12-09T06:34:24Z- waiting for 1607495665.14, time is 1607495663.36 2020-12-09T06:34:24Z- sync is 0.80, coherence is 2.00 2020-12-09T06:34:24Z- AHRS_M2 msg: 1607495664.55 epoch sec; seqNo:679 2020-12-09T06:34:24Z- AHRS_M2 msg: 4.72 phi; -0.19 theta; -0.21 psi 2020-12-09T06:34:24Z- waiting for 1607495665.14, time is 1607495663.36 2020-12-09T06:34:24Z- sync is 1.19, coherence is 2.00 2020-12-09T06:34:24Z- handleDepth()-Depth_Keller msg: 36.27 epoch sec; seqNo:1607495664554; depth 0.00 2020-12-09T06:34:24Z- waiting for 1607495665.14, time is 1607495663.36 2020-12-09T06:34:24Z- sync is 1.19, coherence is 2.00 2020-12-09T06:34:24Z- handleDvl() - RDI_Pathfinder msg: 1607495664.57 epoch sec; seqNo:379 2020-12-09T06:34:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 45.25 , 58.82 , 43.34 , 58.35 2020-12-09T06:34:24Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , 0.09 , 0.01 2020-12-09T06:34:24Z- waiting for 1607495665.14, time is 1607495664.57 2020-12-09T06:34:24Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495664.58 epoch sec; seqNo:706; 4061666.15 north; 594477.21 east 2020-12-09T06:34:24Z- waiting for 1607495665.14, time is 1607495664.57 2020-12-09T06:34:24Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:24Z- AHRS_M2 msg: 1607495664.95 epoch sec; seqNo:680 2020-12-09T06:34:24Z- AHRS_M2 msg: 4.72 phi; -0.19 theta; -0.21 psi 2020-12-09T06:34:24Z- waiting for 1607495665.14, time is 1607495664.57 2020-12-09T06:34:24Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:24Z- handleDepth()-Depth_Keller msg: 36.33 epoch sec; seqNo:1607495664962; depth 0.00 2020-12-09T06:34:24Z- waiting for 1607495665.14, time is 1607495664.57 2020-12-09T06:34:24Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495664.99 epoch sec; seqNo:707; 4061666.14 north; 594475.99 east 2020-12-09T06:34:24Z- waiting for 1607495665.14, time is 1607495664.57 2020-12-09T06:34:24Z- sync is 0.42, coherence is 2.00 2020-12-09T06:34:25Z- AHRS_M2 msg: 1607495665.36 epoch sec; seqNo:681 2020-12-09T06:34:25Z- AHRS_M2 msg: 4.72 phi; -0.19 theta; -0.21 psi 2020-12-09T06:34:25Z- waiting for 1607495665.14, time is 1607495664.57 2020-12-09T06:34:25Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:25Z- handleDepth()-Depth_Keller msg: 36.39 epoch sec; seqNo:1607495665362; depth 0.00 2020-12-09T06:34:25Z- waiting for 1607495665.14, time is 1607495664.57 2020-12-09T06:34:25Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:25Z- handleDvl() - RDI_Pathfinder msg: 1607495665.38 epoch sec; seqNo:380 2020-12-09T06:34:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 45.01 , 59.06 , 43.11 , 58.11 2020-12-09T06:34:25Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , 0.08 , 0.03 2020-12-09T06:34:25Z- waiting for 1607495665.14, time is 1607495665.38 2020-12-09T06:34:25Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:25Z- LcmTrn::updateTrn() >>>> pose time 1607495665.36, meas time 1607495665.38 <<<< 2020-12-09T06:34:25Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495665.38 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:34:25Z- TerrainNav::motionUpdate() - currEstimate = (4061666, 594475.99, 36.39) 2020-12-09T06:34:25Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:34:25Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:34:25Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:34:25Z- TNavBF::mmse selected from filter -1 2020-12-09T06:34:25Z- variances([0], [2], and psi_berg) = 807.810416 833.121779 0.000000 2020-12-09T06:34:25Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:34:25Z- LcmTrn::cycle() - MLE : 4061634.64 594427.49 36.39 2020-12-09T06:34:25Z- LcmTrn::cycle() - MMSE : 4061666.14 594475.99 36.39 2020-12-09T06:34:25Z- LcmTrn::cycle() - COVAR: 807.81 833.12 38.01 0.00 2020-12-09T06:34:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495665.41 epoch sec; seqNo:708; 4061666.14 north; 594475.99 east 2020-12-09T06:34:25Z- waiting for 1607495668.38, time is 1607495665.38 2020-12-09T06:34:25Z- sync is 0.03, coherence is 2.00 2020-12-09T06:34:25Z- AHRS_M2 msg: 1607495665.77 epoch sec; seqNo:682 2020-12-09T06:34:25Z- AHRS_M2 msg: 4.71 phi; -0.19 theta; -0.21 psi 2020-12-09T06:34:25Z- waiting for 1607495668.38, time is 1607495665.38 2020-12-09T06:34:25Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:25Z- handleDepth()-Depth_Keller msg: 36.44 epoch sec; seqNo:1607495665778; depth 0.00 2020-12-09T06:34:25Z- waiting for 1607495668.38, time is 1607495665.38 2020-12-09T06:34:25Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:25Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:25Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:25Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:25Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:34:25Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:34:25Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:34:25Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:34:25Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:34:25Z- handleDvl() - RDI_Pathfinder msg: 1607495665.78 epoch sec; seqNo:381 2020-12-09T06:34:25Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:34:25Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , 0.08 , 0.03 2020-12-09T06:34:25Z- waiting for 1607495668.38, time is 1607495665.78 2020-12-09T06:34:25Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495665.79 epoch sec; seqNo:709; 4061666.14 north; 594475.99 east 2020-12-09T06:34:25Z- waiting for 1607495668.38, time is 1607495665.78 2020-12-09T06:34:25Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:26Z- AHRS_M2 msg: 1607495666.17 epoch sec; seqNo:683 2020-12-09T06:34:26Z- AHRS_M2 msg: 4.71 phi; -0.19 theta; -0.22 psi 2020-12-09T06:34:26Z- waiting for 1607495668.38, time is 1607495665.78 2020-12-09T06:34:26Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:26Z- handleDepth()-Depth_Keller msg: 36.51 epoch sec; seqNo:1607495666183; depth 0.00 2020-12-09T06:34:26Z- waiting for 1607495668.38, time is 1607495665.78 2020-12-09T06:34:26Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495666.20 epoch sec; seqNo:710; 4061666.13 north; 594474.77 east 2020-12-09T06:34:26Z- waiting for 1607495668.38, time is 1607495665.78 2020-12-09T06:34:26Z- sync is 0.42, coherence is 2.00 2020-12-09T06:34:26Z- AHRS_M2 msg: 1607495666.57 epoch sec; seqNo:684 2020-12-09T06:34:26Z- AHRS_M2 msg: 4.71 phi; -0.19 theta; -0.23 psi 2020-12-09T06:34:26Z- waiting for 1607495668.38, time is 1607495665.78 2020-12-09T06:34:26Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:26Z- handleDepth()-Depth_Keller msg: 36.57 epoch sec; seqNo:1607495666578; depth 0.00 2020-12-09T06:34:26Z- waiting for 1607495668.38, time is 1607495665.78 2020-12-09T06:34:26Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:26Z- handleDvl() - RDI_Pathfinder msg: 1607495666.59 epoch sec; seqNo:382 2020-12-09T06:34:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 44.30 , 59.54 , 43.11 , 58.11 2020-12-09T06:34:26Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.06 , 0.03 2020-12-09T06:34:26Z- waiting for 1607495668.38, time is 1607495666.59 2020-12-09T06:34:26Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495666.61 epoch sec; seqNo:711; 4061666.51 north; 594474.77 east 2020-12-09T06:34:26Z- waiting for 1607495668.38, time is 1607495666.59 2020-12-09T06:34:26Z- sync is 0.03, coherence is 2.00 2020-12-09T06:34:26Z- AHRS_M2 msg: 1607495667.01 epoch sec; seqNo:685 2020-12-09T06:34:26Z- AHRS_M2 msg: 4.71 phi; -0.19 theta; -0.23 psi 2020-12-09T06:34:26Z- waiting for 1607495668.38, time is 1607495666.59 2020-12-09T06:34:26Z- sync is 0.42, coherence is 2.00 2020-12-09T06:34:27Z- handleDepth()-Depth_Keller msg: 36.63 epoch sec; seqNo:1607495667039; depth 0.00 2020-12-09T06:34:27Z- waiting for 1607495668.38, time is 1607495666.59 2020-12-09T06:34:27Z- sync is 0.42, coherence is 2.00 2020-12-09T06:34:27Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:27Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:27Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:27Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:34:27Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:34:27Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:34:27Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:34:27Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:34:27Z- handleDvl() - RDI_Pathfinder msg: 1607495667.05 epoch sec; seqNo:383 2020-12-09T06:34:27Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:34:27Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.06 , 0.03 2020-12-09T06:34:27Z- waiting for 1607495668.38, time is 1607495667.05 2020-12-09T06:34:27Z- sync is 0.04, coherence is 2.00 2020-12-09T06:34:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495667.06 epoch sec; seqNo:712; 4061666.51 north; 594474.77 east 2020-12-09T06:34:27Z- waiting for 1607495668.38, time is 1607495667.05 2020-12-09T06:34:27Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:27Z- AHRS_M2 msg: 1607495667.38 epoch sec; seqNo:686 2020-12-09T06:34:27Z- AHRS_M2 msg: 4.71 phi; -0.19 theta; -0.24 psi 2020-12-09T06:34:27Z- waiting for 1607495668.38, time is 1607495667.05 2020-12-09T06:34:27Z- sync is 0.34, coherence is 2.00 2020-12-09T06:34:27Z- handleDepth()-Depth_Keller msg: 36.69 epoch sec; seqNo:1607495667384; depth 0.00 2020-12-09T06:34:27Z- waiting for 1607495668.38, time is 1607495667.05 2020-12-09T06:34:27Z- sync is 0.34, coherence is 2.00 2020-12-09T06:34:27Z- handleDvl() - RDI_Pathfinder msg: 1607495667.40 epoch sec; seqNo:384 2020-12-09T06:34:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 44.06 , 60.25 , 42.87 , 58.59 2020-12-09T06:34:27Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.03 , 0.02 2020-12-09T06:34:27Z- waiting for 1607495668.38, time is 1607495667.40 2020-12-09T06:34:27Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495667.41 epoch sec; seqNo:713; 4061666.49 north; 594473.55 east 2020-12-09T06:34:27Z- waiting for 1607495668.38, time is 1607495667.40 2020-12-09T06:34:27Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:27Z- AHRS_M2 msg: 1607495667.78 epoch sec; seqNo:687 2020-12-09T06:34:27Z- AHRS_M2 msg: 4.71 phi; -0.19 theta; -0.24 psi 2020-12-09T06:34:27Z- waiting for 1607495668.38, time is 1607495667.40 2020-12-09T06:34:27Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:27Z- handleDepth()-Depth_Keller msg: 36.74 epoch sec; seqNo:1607495667794; depth 0.00 2020-12-09T06:34:27Z- waiting for 1607495668.38, time is 1607495667.40 2020-12-09T06:34:27Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495667.82 epoch sec; seqNo:714; 4061666.49 north; 594473.55 east 2020-12-09T06:34:27Z- waiting for 1607495668.38, time is 1607495667.40 2020-12-09T06:34:27Z- sync is 0.42, coherence is 2.00 2020-12-09T06:34:28Z- AHRS_M2 msg: 1607495668.19 epoch sec; seqNo:688 2020-12-09T06:34:28Z- AHRS_M2 msg: 4.71 phi; -0.19 theta; -0.24 psi 2020-12-09T06:34:28Z- waiting for 1607495668.38, time is 1607495667.40 2020-12-09T06:34:28Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:28Z- handleDepth()-Depth_Keller msg: 36.80 epoch sec; seqNo:1607495668195; depth 0.00 2020-12-09T06:34:28Z- waiting for 1607495668.38, time is 1607495667.40 2020-12-09T06:34:28Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:28Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:28Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:28Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:28Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:34:28Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:34:28Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:34:28Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:34:28Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:34:28Z- handleDvl() - RDI_Pathfinder msg: 1607495668.20 epoch sec; seqNo:385 2020-12-09T06:34:28Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:34:28Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.03 , 0.02 2020-12-09T06:34:28Z- waiting for 1607495668.38, time is 1607495668.20 2020-12-09T06:34:28Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495668.24 epoch sec; seqNo:715; 4061666.49 north; 594473.55 east 2020-12-09T06:34:28Z- waiting for 1607495668.38, time is 1607495668.20 2020-12-09T06:34:28Z- sync is 0.04, coherence is 2.00 2020-12-09T06:34:28Z- AHRS_M2 msg: 1607495668.60 epoch sec; seqNo:689 2020-12-09T06:34:28Z- AHRS_M2 msg: 4.71 phi; -0.19 theta; -0.25 psi 2020-12-09T06:34:28Z- waiting for 1607495668.38, time is 1607495668.20 2020-12-09T06:34:28Z- sync is 0.40, coherence is 2.00 2020-12-09T06:34:28Z- handleDepth()-Depth_Keller msg: 36.86 epoch sec; seqNo:1607495668601; depth 0.00 2020-12-09T06:34:28Z- waiting for 1607495668.38, time is 1607495668.20 2020-12-09T06:34:28Z- sync is 0.40, coherence is 2.00 2020-12-09T06:34:28Z- handleDvl() - RDI_Pathfinder msg: 1607495668.61 epoch sec; seqNo:386 2020-12-09T06:34:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.82 , 60.01 , 42.63 , 58.59 2020-12-09T06:34:28Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.01 , 0.00 2020-12-09T06:34:28Z- waiting for 1607495668.38, time is 1607495668.61 2020-12-09T06:34:28Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:28Z- LcmTrn::updateTrn() >>>> pose time 1607495668.60, meas time 1607495668.61 <<<< 2020-12-09T06:34:28Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495668.61 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:34:28Z- TerrainNav::motionUpdate() - currEstimate = (4061666, 594473.55, 36.86) 2020-12-09T06:34:28Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:34:28Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:34:28Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:34:28Z- TNavBF::mmse selected from filter -1 2020-12-09T06:34:28Z- variances([0], [2], and psi_berg) = 807.596876 833.121202 0.000000 2020-12-09T06:34:28Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:34:28Z- LcmTrn::cycle() - MLE : 4061634.99 594425.05 36.86 2020-12-09T06:34:28Z- LcmTrn::cycle() - MMSE : 4061666.49 594473.55 36.86 2020-12-09T06:34:28Z- LcmTrn::cycle() - COVAR: 807.60 833.12 38.14 0.00 2020-12-09T06:34:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495668.62 epoch sec; seqNo:716; 4061666.48 north; 594472.33 east 2020-12-09T06:34:28Z- waiting for 1607495671.61, time is 1607495668.61 2020-12-09T06:34:28Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:28Z- AHRS_M2 msg: 1607495668.99 epoch sec; seqNo:690 2020-12-09T06:34:28Z- AHRS_M2 msg: 4.71 phi; -0.19 theta; -0.25 psi 2020-12-09T06:34:28Z- waiting for 1607495671.61, time is 1607495668.61 2020-12-09T06:34:28Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:29Z- handleDepth()-Depth_Keller msg: 36.92 epoch sec; seqNo:1607495669012; depth 0.00 2020-12-09T06:34:29Z- waiting for 1607495671.61, time is 1607495668.61 2020-12-09T06:34:29Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495669.02 epoch sec; seqNo:717; 4061666.48 north; 594472.33 east 2020-12-09T06:34:29Z- waiting for 1607495671.61, time is 1607495668.61 2020-12-09T06:34:29Z- sync is 0.41, coherence is 2.00 2020-12-09T06:34:29Z- AHRS_M2 msg: 1607495669.40 epoch sec; seqNo:691 2020-12-09T06:34:29Z- AHRS_M2 msg: 4.71 phi; -0.19 theta; -0.25 psi 2020-12-09T06:34:29Z- waiting for 1607495671.61, time is 1607495668.61 2020-12-09T06:34:29Z- sync is 0.78, coherence is 2.00 2020-12-09T06:34:29Z- handleDepth()-Depth_Keller msg: 36.98 epoch sec; seqNo:1607495669406; depth 0.00 2020-12-09T06:34:29Z- waiting for 1607495671.61, time is 1607495668.61 2020-12-09T06:34:29Z- sync is 0.78, coherence is 2.00 2020-12-09T06:34:29Z- handleDvl() - RDI_Pathfinder msg: 1607495669.42 epoch sec; seqNo:387 2020-12-09T06:34:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.82 , 60.01 , 42.15 , 58.59 2020-12-09T06:34:29Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , -0.02 , -0.00 2020-12-09T06:34:29Z- waiting for 1607495671.61, time is 1607495669.42 2020-12-09T06:34:29Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495669.44 epoch sec; seqNo:718; 4061666.48 north; 594472.33 east 2020-12-09T06:34:29Z- waiting for 1607495671.61, time is 1607495669.42 2020-12-09T06:34:29Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:29Z- AHRS_M2 msg: 1607495669.80 epoch sec; seqNo:692 2020-12-09T06:34:29Z- AHRS_M2 msg: 4.71 phi; -0.19 theta; -0.25 psi 2020-12-09T06:34:29Z- waiting for 1607495671.61, time is 1607495669.42 2020-12-09T06:34:29Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:29Z- handleDepth()-Depth_Keller msg: 37.06 epoch sec; seqNo:1607495669808; depth 0.00 2020-12-09T06:34:29Z- waiting for 1607495671.61, time is 1607495669.42 2020-12-09T06:34:29Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495669.82 epoch sec; seqNo:719; 4061666.47 north; 594471.11 east 2020-12-09T06:34:29Z- waiting for 1607495671.61, time is 1607495669.42 2020-12-09T06:34:29Z- sync is 0.40, coherence is 2.00 2020-12-09T06:34:30Z- AHRS_M2 msg: 1607495670.21 epoch sec; seqNo:693 2020-12-09T06:34:30Z- AHRS_M2 msg: 4.70 phi; -0.19 theta; -0.25 psi 2020-12-09T06:34:30Z- waiting for 1607495671.61, time is 1607495669.42 2020-12-09T06:34:30Z- sync is 0.80, coherence is 2.00 2020-12-09T06:34:30Z- handleDepth()-Depth_Keller msg: 37.13 epoch sec; seqNo:1607495670232; depth 0.00 2020-12-09T06:34:30Z- waiting for 1607495671.61, time is 1607495669.42 2020-12-09T06:34:30Z- sync is 0.80, coherence is 2.00 2020-12-09T06:34:30Z- handleDvl() - RDI_Pathfinder msg: 1607495670.26 epoch sec; seqNo:388 2020-12-09T06:34:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.11 , 59.78 , 42.15 , 57.87 2020-12-09T06:34:30Z- handleDvl() - RDI_Pathfinder msg: velocities 1.12 , -0.02 , 0.01 2020-12-09T06:34:30Z- waiting for 1607495671.61, time is 1607495670.26 2020-12-09T06:34:30Z- sync is 0.04, coherence is 2.00 2020-12-09T06:34:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495670.28 epoch sec; seqNo:720; 4061666.47 north; 594471.11 east 2020-12-09T06:34:30Z- waiting for 1607495671.61, time is 1607495670.26 2020-12-09T06:34:30Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:30Z- AHRS_M2 msg: 1607495670.61 epoch sec; seqNo:694 2020-12-09T06:34:30Z- AHRS_M2 msg: 4.70 phi; -0.19 theta; -0.24 psi 2020-12-09T06:34:30Z- waiting for 1607495671.61, time is 1607495670.26 2020-12-09T06:34:30Z- sync is 0.35, coherence is 2.00 2020-12-09T06:34:30Z- handleDepth()-Depth_Keller msg: 37.20 epoch sec; seqNo:1607495670613; depth 0.00 2020-12-09T06:34:30Z- waiting for 1607495671.61, time is 1607495670.26 2020-12-09T06:34:30Z- sync is 0.35, coherence is 2.00 2020-12-09T06:34:30Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:30Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:30Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:30Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:34:30Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:34:30Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:34:30Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:34:30Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:34:30Z- handleDvl() - RDI_Pathfinder msg: 1607495670.62 epoch sec; seqNo:389 2020-12-09T06:34:30Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:34:30Z- handleDvl() - RDI_Pathfinder msg: velocities 1.12 , -0.02 , 0.01 2020-12-09T06:34:30Z- waiting for 1607495671.61, time is 1607495670.62 2020-12-09T06:34:30Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495670.64 epoch sec; seqNo:721; 4061666.47 north; 594471.11 east 2020-12-09T06:34:30Z- waiting for 1607495671.61, time is 1607495670.62 2020-12-09T06:34:30Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:31Z- AHRS_M2 msg: 1607495671.01 epoch sec; seqNo:695 2020-12-09T06:34:31Z- AHRS_M2 msg: 4.70 phi; -0.19 theta; -0.24 psi 2020-12-09T06:34:31Z- waiting for 1607495671.61, time is 1607495670.62 2020-12-09T06:34:31Z- sync is 0.40, coherence is 2.00 2020-12-09T06:34:31Z- handleDepth()-Depth_Keller msg: 37.28 epoch sec; seqNo:1607495671026; depth 0.00 2020-12-09T06:34:31Z- waiting for 1607495671.61, time is 1607495670.62 2020-12-09T06:34:31Z- sync is 0.40, coherence is 2.00 2020-12-09T06:34:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495671.04 epoch sec; seqNo:722; 4061666.07 north; 594469.89 east 2020-12-09T06:34:31Z- waiting for 1607495671.61, time is 1607495670.62 2020-12-09T06:34:31Z- sync is 0.42, coherence is 2.00 2020-12-09T06:34:31Z- AHRS_M2 msg: 1607495671.42 epoch sec; seqNo:696 2020-12-09T06:34:31Z- AHRS_M2 msg: 4.70 phi; -0.19 theta; -0.24 psi 2020-12-09T06:34:31Z- waiting for 1607495671.61, time is 1607495670.62 2020-12-09T06:34:31Z- sync is 0.80, coherence is 2.00 2020-12-09T06:34:31Z- handleDepth()-Depth_Keller msg: 37.35 epoch sec; seqNo:1607495671565; depth 0.00 2020-12-09T06:34:31Z- waiting for 1607495671.61, time is 1607495670.62 2020-12-09T06:34:31Z- sync is 0.80, coherence is 2.00 2020-12-09T06:34:31Z- handleDvl() - RDI_Pathfinder msg: 1607495671.58 epoch sec; seqNo:390 2020-12-09T06:34:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.87 , 59.07 , 41.68 , 57.64 2020-12-09T06:34:31Z- handleDvl() - RDI_Pathfinder msg: velocities 1.15 , -0.01 , 0.05 2020-12-09T06:34:31Z- waiting for 1607495671.61, time is 1607495671.58 2020-12-09T06:34:31Z- sync is 0.16, coherence is 2.00 2020-12-09T06:34:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495671.59 epoch sec; seqNo:723; 4061666.07 north; 594469.89 east 2020-12-09T06:34:31Z- waiting for 1607495671.61, time is 1607495671.58 2020-12-09T06:34:31Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:31Z- AHRS_M2 msg: 1607495671.83 epoch sec; seqNo:697 2020-12-09T06:34:31Z- AHRS_M2 msg: 4.69 phi; -0.19 theta; -0.24 psi 2020-12-09T06:34:31Z- waiting for 1607495671.61, time is 1607495671.58 2020-12-09T06:34:31Z- sync is 0.25, coherence is 2.00 2020-12-09T06:34:31Z- handleDepth()-Depth_Keller msg: 37.45 epoch sec; seqNo:1607495671858; depth 0.00 2020-12-09T06:34:31Z- waiting for 1607495671.61, time is 1607495671.58 2020-12-09T06:34:31Z- sync is 0.25, coherence is 2.00 2020-12-09T06:34:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495671.88 epoch sec; seqNo:724; 4061666.06 north; 594468.67 east 2020-12-09T06:34:31Z- waiting for 1607495671.61, time is 1607495671.58 2020-12-09T06:34:31Z- sync is 0.30, coherence is 2.00 2020-12-09T06:34:32Z- AHRS_M2 msg: 1607495672.25 epoch sec; seqNo:698 2020-12-09T06:34:32Z- AHRS_M2 msg: 4.69 phi; -0.19 theta; -0.23 psi 2020-12-09T06:34:32Z- waiting for 1607495671.61, time is 1607495671.58 2020-12-09T06:34:32Z- sync is 0.67, coherence is 2.00 2020-12-09T06:34:32Z- handleDepth()-Depth_Keller msg: 37.49 epoch sec; seqNo:1607495672286; depth 0.00 2020-12-09T06:34:32Z- waiting for 1607495671.61, time is 1607495671.58 2020-12-09T06:34:32Z- sync is 0.67, coherence is 2.00 2020-12-09T06:34:32Z- handleDvl() - RDI_Pathfinder msg: 1607495672.30 epoch sec; seqNo:391 2020-12-09T06:34:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.11 , 58.35 , 41.92 , 57.16 2020-12-09T06:34:32Z- handleDvl() - RDI_Pathfinder msg: velocities 1.14 , 0.03 , 0.09 2020-12-09T06:34:32Z- waiting for 1607495671.61, time is 1607495672.30 2020-12-09T06:34:32Z- sync is 0.05, coherence is 2.00 2020-12-09T06:34:32Z- LcmTrn::updateTrn() >>>> pose time 1607495672.25, meas time 1607495672.30 <<<< 2020-12-09T06:34:32Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495672.30 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:34:32Z- TerrainNav::motionUpdate() - currEstimate = (4061666, 594468.67, 37.49) 2020-12-09T06:34:32Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:34:32Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:34:32Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:34:32Z- TNavBF::mmse selected from filter -1 2020-12-09T06:34:32Z- variances([0], [2], and psi_berg) = 807.297831 833.120399 0.000000 2020-12-09T06:34:32Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:34:32Z- LcmTrn::cycle() - MLE : 4061634.56 594420.17 37.49 2020-12-09T06:34:32Z- LcmTrn::cycle() - MMSE : 4061666.06 594468.67 37.49 2020-12-09T06:34:32Z- LcmTrn::cycle() - COVAR: 807.30 833.12 38.39 0.00 2020-12-09T06:34:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495672.32 epoch sec; seqNo:725; 4061666.06 north; 594468.67 east 2020-12-09T06:34:32Z- waiting for 1607495675.30, time is 1607495672.30 2020-12-09T06:34:32Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:32Z- AHRS_M2 msg: 1607495672.65 epoch sec; seqNo:699 2020-12-09T06:34:32Z- AHRS_M2 msg: 4.69 phi; -0.19 theta; -0.23 psi 2020-12-09T06:34:32Z- waiting for 1607495675.30, time is 1607495672.30 2020-12-09T06:34:32Z- sync is 0.35, coherence is 2.00 2020-12-09T06:34:32Z- handleDepth()-Depth_Keller msg: 37.59 epoch sec; seqNo:1607495672686; depth 0.00 2020-12-09T06:34:32Z- waiting for 1607495675.30, time is 1607495672.30 2020-12-09T06:34:32Z- sync is 0.35, coherence is 2.00 2020-12-09T06:34:32Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:32Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:32Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:32Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:34:32Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:34:32Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:34:32Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:34:32Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:34:32Z- handleDvl() - RDI_Pathfinder msg: 1607495672.69 epoch sec; seqNo:392 2020-12-09T06:34:32Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:34:32Z- handleDvl() - RDI_Pathfinder msg: velocities 1.14 , 0.03 , 0.09 2020-12-09T06:34:32Z- waiting for 1607495675.30, time is 1607495672.69 2020-12-09T06:34:32Z- sync is 0.04, coherence is 2.00 2020-12-09T06:34:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495672.70 epoch sec; seqNo:726; 4061666.06 north; 594468.67 east 2020-12-09T06:34:32Z- waiting for 1607495675.30, time is 1607495672.69 2020-12-09T06:34:32Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:33Z- AHRS_M2 msg: 1607495673.04 epoch sec; seqNo:700 2020-12-09T06:34:33Z- AHRS_M2 msg: 4.68 phi; -0.19 theta; -0.23 psi 2020-12-09T06:34:33Z- waiting for 1607495675.30, time is 1607495672.69 2020-12-09T06:34:33Z- sync is 0.35, coherence is 2.00 2020-12-09T06:34:33Z- handleDepth()-Depth_Keller msg: 37.66 epoch sec; seqNo:1607495673039; depth 0.00 2020-12-09T06:34:33Z- waiting for 1607495675.30, time is 1607495672.69 2020-12-09T06:34:33Z- sync is 0.35, coherence is 2.00 2020-12-09T06:34:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495673.05 epoch sec; seqNo:727; 4061666.43 north; 594467.45 east 2020-12-09T06:34:33Z- waiting for 1607495675.30, time is 1607495672.69 2020-12-09T06:34:33Z- sync is 0.36, coherence is 2.00 2020-12-09T06:34:33Z- AHRS_M2 msg: 1607495673.44 epoch sec; seqNo:701 2020-12-09T06:34:33Z- AHRS_M2 msg: 4.68 phi; -0.19 theta; -0.23 psi 2020-12-09T06:34:33Z- waiting for 1607495675.30, time is 1607495672.69 2020-12-09T06:34:33Z- sync is 0.75, coherence is 2.00 2020-12-09T06:34:33Z- handleDepth()-Depth_Keller msg: 37.74 epoch sec; seqNo:1607495673449; depth 0.00 2020-12-09T06:34:33Z- waiting for 1607495675.30, time is 1607495672.69 2020-12-09T06:34:33Z- sync is 0.75, coherence is 2.00 2020-12-09T06:34:33Z- handleDvl() - RDI_Pathfinder msg: 1607495673.46 epoch sec; seqNo:393 2020-12-09T06:34:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.87 , 57.87 , 41.68 , 56.68 2020-12-09T06:34:33Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , 0.05 , 0.12 2020-12-09T06:34:33Z- waiting for 1607495675.30, time is 1607495673.46 2020-12-09T06:34:33Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495673.47 epoch sec; seqNo:728; 4061666.43 north; 594467.45 east 2020-12-09T06:34:33Z- waiting for 1607495675.30, time is 1607495673.46 2020-12-09T06:34:33Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:33Z- AHRS_M2 msg: 1607495673.84 epoch sec; seqNo:702 2020-12-09T06:34:33Z- AHRS_M2 msg: 4.68 phi; -0.19 theta; -0.23 psi 2020-12-09T06:34:33Z- waiting for 1607495675.30, time is 1607495673.46 2020-12-09T06:34:33Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:33Z- handleDepth()-Depth_Keller msg: 37.82 epoch sec; seqNo:1607495673847; depth 0.00 2020-12-09T06:34:33Z- waiting for 1607495675.30, time is 1607495673.46 2020-12-09T06:34:33Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:33Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:33Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:33Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:33Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:34:33Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:34:33Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:34:33Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:34:33Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:34:33Z- handleDvl() - RDI_Pathfinder msg: 1607495673.85 epoch sec; seqNo:394 2020-12-09T06:34:33Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:34:33Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , 0.05 , 0.12 2020-12-09T06:34:33Z- waiting for 1607495675.30, time is 1607495673.85 2020-12-09T06:34:33Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495673.87 epoch sec; seqNo:729; 4061666.43 north; 594467.45 east 2020-12-09T06:34:33Z- waiting for 1607495675.30, time is 1607495673.85 2020-12-09T06:34:33Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:34Z- AHRS_M2 msg: 1607495674.25 epoch sec; seqNo:703 2020-12-09T06:34:34Z- AHRS_M2 msg: 4.67 phi; -0.19 theta; -0.23 psi 2020-12-09T06:34:34Z- waiting for 1607495675.30, time is 1607495673.85 2020-12-09T06:34:34Z- sync is 0.40, coherence is 2.00 2020-12-09T06:34:34Z- handleDepth()-Depth_Keller msg: 37.89 epoch sec; seqNo:1607495674260; depth 0.00 2020-12-09T06:34:34Z- waiting for 1607495675.30, time is 1607495673.85 2020-12-09T06:34:34Z- sync is 0.40, coherence is 2.00 2020-12-09T06:34:34Z- handleDvl() - RDI_Pathfinder msg: 1607495674.28 epoch sec; seqNo:395 2020-12-09T06:34:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.11 , 57.40 , 41.68 , 56.92 2020-12-09T06:34:34Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , 0.05 , 0.12 2020-12-09T06:34:34Z- waiting for 1607495675.30, time is 1607495674.28 2020-12-09T06:34:34Z- sync is 0.03, coherence is 2.00 2020-12-09T06:34:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495674.30 epoch sec; seqNo:730; 4061666.41 north; 594466.23 east 2020-12-09T06:34:34Z- waiting for 1607495675.30, time is 1607495674.28 2020-12-09T06:34:34Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:34Z- AHRS_M2 msg: 1607495674.65 epoch sec; seqNo:704 2020-12-09T06:34:34Z- AHRS_M2 msg: 4.67 phi; -0.19 theta; -0.23 psi 2020-12-09T06:34:34Z- waiting for 1607495675.30, time is 1607495674.28 2020-12-09T06:34:34Z- sync is 0.37, coherence is 2.00 2020-12-09T06:34:34Z- handleDepth()-Depth_Keller msg: 37.95 epoch sec; seqNo:1607495674657; depth 0.00 2020-12-09T06:34:34Z- waiting for 1607495675.30, time is 1607495674.28 2020-12-09T06:34:34Z- sync is 0.37, coherence is 2.00 2020-12-09T06:34:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495674.67 epoch sec; seqNo:731; 4061666.41 north; 594466.23 east 2020-12-09T06:34:34Z- waiting for 1607495675.30, time is 1607495674.28 2020-12-09T06:34:34Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:35Z- AHRS_M2 msg: 1607495675.06 epoch sec; seqNo:705 2020-12-09T06:34:35Z- AHRS_M2 msg: 4.67 phi; -0.19 theta; -0.23 psi 2020-12-09T06:34:35Z- waiting for 1607495675.30, time is 1607495674.28 2020-12-09T06:34:35Z- sync is 0.77, coherence is 2.00 2020-12-09T06:34:35Z- handleDepth()-Depth_Keller msg: 38.03 epoch sec; seqNo:1607495675064; depth 0.00 2020-12-09T06:34:35Z- waiting for 1607495675.30, time is 1607495674.28 2020-12-09T06:34:35Z- sync is 0.77, coherence is 2.00 2020-12-09T06:34:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:35Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:35Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:34:35Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:34:35Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:34:35Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:34:35Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:34:35Z- handleDvl() - RDI_Pathfinder msg: 1607495675.07 epoch sec; seqNo:396 2020-12-09T06:34:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:34:35Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , 0.05 , 0.12 2020-12-09T06:34:35Z- waiting for 1607495675.30, time is 1607495675.07 2020-12-09T06:34:35Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495675.08 epoch sec; seqNo:732; 4061666.41 north; 594466.23 east 2020-12-09T06:34:35Z- waiting for 1607495675.30, time is 1607495675.07 2020-12-09T06:34:35Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:35Z- AHRS_M2 msg: 1607495675.46 epoch sec; seqNo:706 2020-12-09T06:34:35Z- AHRS_M2 msg: 4.66 phi; -0.19 theta; -0.24 psi 2020-12-09T06:34:35Z- waiting for 1607495675.30, time is 1607495675.07 2020-12-09T06:34:35Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:35Z- handleDepth()-Depth_Keller msg: 38.11 epoch sec; seqNo:1607495675475; depth 0.00 2020-12-09T06:34:35Z- waiting for 1607495675.30, time is 1607495675.07 2020-12-09T06:34:35Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:35Z- handleDvl() - RDI_Pathfinder msg: 1607495675.49 epoch sec; seqNo:397 2020-12-09T06:34:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.87 , 58.12 , 41.92 , 56.69 2020-12-09T06:34:35Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.07 , 0.10 2020-12-09T06:34:35Z- waiting for 1607495675.30, time is 1607495675.49 2020-12-09T06:34:35Z- sync is 0.03, coherence is 2.00 2020-12-09T06:34:35Z- LcmTrn::updateTrn() >>>> pose time 1607495675.46, meas time 1607495675.49 <<<< 2020-12-09T06:34:35Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495675.49 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:34:35Z- TerrainNav::motionUpdate() - currEstimate = (4061666, 594466.23, 38.11) 2020-12-09T06:34:35Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:34:35Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:34:35Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:34:35Z- TNavBF::mmse selected from filter -1 2020-12-09T06:34:35Z- variances([0], [2], and psi_berg) = 807.087042 833.119838 0.000000 2020-12-09T06:34:35Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:34:35Z- LcmTrn::cycle() - MLE : 4061634.91 594417.73 38.11 2020-12-09T06:34:35Z- LcmTrn::cycle() - MMSE : 4061666.41 594466.23 38.11 2020-12-09T06:34:35Z- LcmTrn::cycle() - COVAR: 807.09 833.12 38.51 0.00 2020-12-09T06:34:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495675.50 epoch sec; seqNo:733; 4061666.40 north; 594465.01 east 2020-12-09T06:34:35Z- waiting for 1607495678.49, time is 1607495675.49 2020-12-09T06:34:35Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:35Z- AHRS_M2 msg: 1607495675.87 epoch sec; seqNo:707 2020-12-09T06:34:35Z- AHRS_M2 msg: 4.66 phi; -0.19 theta; -0.23 psi 2020-12-09T06:34:35Z- waiting for 1607495678.49, time is 1607495675.49 2020-12-09T06:34:35Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:35Z- handleDepth()-Depth_Keller msg: 38.20 epoch sec; seqNo:1607495675871; depth 0.00 2020-12-09T06:34:35Z- waiting for 1607495678.49, time is 1607495675.49 2020-12-09T06:34:35Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495675.88 epoch sec; seqNo:734; 4061666.40 north; 594465.01 east 2020-12-09T06:34:35Z- waiting for 1607495678.49, time is 1607495675.49 2020-12-09T06:34:35Z- sync is 0.40, coherence is 2.00 2020-12-09T06:34:36Z- AHRS_M2 msg: 1607495676.27 epoch sec; seqNo:708 2020-12-09T06:34:36Z- AHRS_M2 msg: 4.66 phi; -0.19 theta; -0.23 psi 2020-12-09T06:34:36Z- waiting for 1607495678.49, time is 1607495675.49 2020-12-09T06:34:36Z- sync is 0.78, coherence is 2.00 2020-12-09T06:34:36Z- handleDepth()-Depth_Keller msg: 38.27 epoch sec; seqNo:1607495676274; depth 0.00 2020-12-09T06:34:36Z- waiting for 1607495678.49, time is 1607495675.49 2020-12-09T06:34:36Z- sync is 0.78, coherence is 2.00 2020-12-09T06:34:36Z- handleDvl() - RDI_Pathfinder msg: 1607495676.29 epoch sec; seqNo:398 2020-12-09T06:34:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.63 , 57.64 , 41.68 , 56.69 2020-12-09T06:34:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.06 , 0.06 2020-12-09T06:34:36Z- waiting for 1607495678.49, time is 1607495676.29 2020-12-09T06:34:36Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495676.30 epoch sec; seqNo:735; 4061666.40 north; 594465.01 east 2020-12-09T06:34:36Z- waiting for 1607495678.49, time is 1607495676.29 2020-12-09T06:34:36Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:36Z- AHRS_M2 msg: 1607495676.67 epoch sec; seqNo:709 2020-12-09T06:34:36Z- AHRS_M2 msg: 4.66 phi; -0.19 theta; -0.24 psi 2020-12-09T06:34:36Z- waiting for 1607495678.49, time is 1607495676.29 2020-12-09T06:34:36Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:36Z- handleDepth()-Depth_Keller msg: 38.35 epoch sec; seqNo:1607495676675; depth 0.00 2020-12-09T06:34:36Z- waiting for 1607495678.49, time is 1607495676.29 2020-12-09T06:34:36Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495676.69 epoch sec; seqNo:736; 4061666.38 north; 594463.79 east 2020-12-09T06:34:36Z- waiting for 1607495678.49, time is 1607495676.29 2020-12-09T06:34:36Z- sync is 0.40, coherence is 2.00 2020-12-09T06:34:37Z- handleDepth()-Depth_Keller msg: 38.41 epoch sec; seqNo:1607495677098; depth 0.00 2020-12-09T06:34:37Z- waiting for 1607495678.49, time is 1607495676.29 2020-12-09T06:34:37Z- sync is 0.40, coherence is 2.00 2020-12-09T06:34:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495677.11 epoch sec; seqNo:737; 4061666.38 north; 594463.79 east 2020-12-09T06:34:37Z- waiting for 1607495678.49, time is 1607495676.29 2020-12-09T06:34:37Z- sync is 0.82, coherence is 2.00 2020-12-09T06:34:37Z- AHRS_M2 msg: 1607495677.48 epoch sec; seqNo:710 2020-12-09T06:34:37Z- AHRS_M2 msg: 4.66 phi; -0.19 theta; -0.24 psi 2020-12-09T06:34:37Z- waiting for 1607495678.49, time is 1607495676.29 2020-12-09T06:34:37Z- sync is 1.19, coherence is 2.00 2020-12-09T06:34:37Z- handleDepth()-Depth_Keller msg: 38.49 epoch sec; seqNo:1607495677483; depth 0.00 2020-12-09T06:34:37Z- waiting for 1607495678.49, time is 1607495676.29 2020-12-09T06:34:37Z- sync is 1.19, coherence is 2.00 2020-12-09T06:34:37Z- handleDvl() - RDI_Pathfinder msg: 1607495677.50 epoch sec; seqNo:399 2020-12-09T06:34:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.16 , 57.88 , 41.68 , 56.69 2020-12-09T06:34:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.05 , 0.02 2020-12-09T06:34:37Z- waiting for 1607495678.49, time is 1607495677.50 2020-12-09T06:34:37Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495677.52 epoch sec; seqNo:738; 4061666.38 north; 594463.79 east 2020-12-09T06:34:37Z- waiting for 1607495678.49, time is 1607495677.50 2020-12-09T06:34:37Z- sync is 0.03, coherence is 2.00 2020-12-09T06:34:37Z- handleDepth()-Depth_Keller msg: 38.55 epoch sec; seqNo:1607495677910; depth 0.00 2020-12-09T06:34:37Z- waiting for 1607495678.49, time is 1607495677.50 2020-12-09T06:34:37Z- sync is 0.03, coherence is 2.00 2020-12-09T06:34:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495677.93 epoch sec; seqNo:739; 4061666.37 north; 594462.57 east 2020-12-09T06:34:37Z- waiting for 1607495678.49, time is 1607495677.50 2020-12-09T06:34:37Z- sync is 0.43, coherence is 2.00 2020-12-09T06:34:38Z- AHRS_M2 msg: 1607495678.29 epoch sec; seqNo:711 2020-12-09T06:34:38Z- AHRS_M2 msg: 4.66 phi; -0.19 theta; -0.24 psi 2020-12-09T06:34:38Z- waiting for 1607495678.49, time is 1607495677.50 2020-12-09T06:34:38Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:38Z- handleDepth()-Depth_Keller msg: 38.62 epoch sec; seqNo:1607495678299; depth 0.00 2020-12-09T06:34:38Z- waiting for 1607495678.49, time is 1607495677.50 2020-12-09T06:34:38Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:38Z- handleDvl() - RDI_Pathfinder msg: 1607495678.31 epoch sec; seqNo:400 2020-12-09T06:34:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.16 , 58.12 , 41.68 , 56.45 2020-12-09T06:34:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.05 , -0.01 2020-12-09T06:34:38Z- waiting for 1607495678.49, time is 1607495678.31 2020-12-09T06:34:38Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495678.32 epoch sec; seqNo:740; 4061666.37 north; 594462.57 east 2020-12-09T06:34:38Z- waiting for 1607495678.49, time is 1607495678.31 2020-12-09T06:34:38Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:38Z- AHRS_M2 msg: 1607495678.69 epoch sec; seqNo:712 2020-12-09T06:34:38Z- AHRS_M2 msg: 4.66 phi; -0.19 theta; -0.24 psi 2020-12-09T06:34:38Z- waiting for 1607495678.49, time is 1607495678.31 2020-12-09T06:34:38Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:38Z- handleDepth()-Depth_Keller msg: 38.68 epoch sec; seqNo:1607495678698; depth 0.00 2020-12-09T06:34:38Z- waiting for 1607495678.49, time is 1607495678.31 2020-12-09T06:34:38Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:38Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:38Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:38Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:38Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:34:38Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:34:38Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:34:38Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:34:38Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:34:38Z- handleDvl() - RDI_Pathfinder msg: 1607495678.70 epoch sec; seqNo:401 2020-12-09T06:34:38Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:34:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.05 , -0.01 2020-12-09T06:34:38Z- waiting for 1607495678.49, time is 1607495678.70 2020-12-09T06:34:38Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:38Z- LcmTrn::updateTrn() >>>> pose time 1607495678.69, meas time 1607495678.70 <<<< 2020-12-09T06:34:38Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495678.70, ping # 0. 2020-12-09T06:34:38Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495678.70 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:34:38Z- TerrainNav::motionUpdate() - currEstimate = (4061666, 594462.57, 38.68) 2020-12-09T06:34:38Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:34:38Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:34:38Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:34:38Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:34:38Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:34:38Z- TNavBF::mmse selected from filter -1 2020-12-09T06:34:38Z- variances([0], [2], and psi_berg) = 806.831759 833.119164 0.000000 2020-12-09T06:34:38Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:34:38Z- LcmTrn::cycle() - MLE : 4061634.87 594414.07 38.68 2020-12-09T06:34:38Z- LcmTrn::cycle() - MMSE : 4061666.37 594462.57 38.68 2020-12-09T06:34:38Z- LcmTrn::cycle() - COVAR: 806.83 833.12 38.70 0.00 2020-12-09T06:34:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495678.72 epoch sec; seqNo:741; 4061666.37 north; 594462.57 east 2020-12-09T06:34:38Z- waiting for 1607495681.70, time is 1607495678.70 2020-12-09T06:34:38Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:39Z- AHRS_M2 msg: 1607495679.09 epoch sec; seqNo:713 2020-12-09T06:34:39Z- AHRS_M2 msg: 4.66 phi; -0.19 theta; -0.24 psi 2020-12-09T06:34:39Z- waiting for 1607495681.70, time is 1607495678.70 2020-12-09T06:34:39Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:39Z- handleDepth()-Depth_Keller msg: 38.74 epoch sec; seqNo:1607495679106; depth 0.00 2020-12-09T06:34:39Z- waiting for 1607495681.70, time is 1607495678.70 2020-12-09T06:34:39Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495679.14 epoch sec; seqNo:742; 4061666.37 north; 594462.57 east 2020-12-09T06:34:39Z- waiting for 1607495681.70, time is 1607495678.70 2020-12-09T06:34:39Z- sync is 0.44, coherence is 2.00 2020-12-09T06:34:39Z- AHRS_M2 msg: 1607495679.50 epoch sec; seqNo:714 2020-12-09T06:34:39Z- AHRS_M2 msg: 4.66 phi; -0.19 theta; -0.23 psi 2020-12-09T06:34:39Z- waiting for 1607495681.70, time is 1607495678.70 2020-12-09T06:34:39Z- sync is 0.80, coherence is 2.00 2020-12-09T06:34:39Z- handleDepth()-Depth_Keller msg: 38.80 epoch sec; seqNo:1607495679503; depth 0.00 2020-12-09T06:34:39Z- waiting for 1607495681.70, time is 1607495678.70 2020-12-09T06:34:39Z- sync is 0.80, coherence is 2.00 2020-12-09T06:34:39Z- handleDvl() - RDI_Pathfinder msg: 1607495679.52 epoch sec; seqNo:402 2020-12-09T06:34:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.92 , 57.16 , 41.68 , 55.97 2020-12-09T06:34:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.03 , -0.03 2020-12-09T06:34:39Z- waiting for 1607495681.70, time is 1607495679.52 2020-12-09T06:34:39Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495679.53 epoch sec; seqNo:743; 4061666.36 north; 594461.35 east 2020-12-09T06:34:39Z- waiting for 1607495681.70, time is 1607495679.52 2020-12-09T06:34:39Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:39Z- AHRS_M2 msg: 1607495679.90 epoch sec; seqNo:715 2020-12-09T06:34:39Z- AHRS_M2 msg: 4.66 phi; -0.18 theta; -0.23 psi 2020-12-09T06:34:39Z- waiting for 1607495681.70, time is 1607495679.52 2020-12-09T06:34:39Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:39Z- handleDepth()-Depth_Keller msg: 38.86 epoch sec; seqNo:1607495679910; depth 0.00 2020-12-09T06:34:39Z- waiting for 1607495681.70, time is 1607495679.52 2020-12-09T06:34:39Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:39Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:39Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:39Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:39Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:34:39Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:34:39Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:34:39Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:34:39Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:34:39Z- handleDvl() - RDI_Pathfinder msg: 1607495679.91 epoch sec; seqNo:403 2020-12-09T06:34:39Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:34:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.03 , -0.03 2020-12-09T06:34:39Z- waiting for 1607495681.70, time is 1607495679.91 2020-12-09T06:34:39Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495679.94 epoch sec; seqNo:744; 4061666.36 north; 594461.35 east 2020-12-09T06:34:39Z- waiting for 1607495681.70, time is 1607495679.91 2020-12-09T06:34:39Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:40Z- AHRS_M2 msg: 1607495680.31 epoch sec; seqNo:716 2020-12-09T06:34:40Z- AHRS_M2 msg: 4.66 phi; -0.18 theta; -0.23 psi 2020-12-09T06:34:40Z- waiting for 1607495681.70, time is 1607495679.91 2020-12-09T06:34:40Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:40Z- handleDepth()-Depth_Keller msg: 38.90 epoch sec; seqNo:1607495680310; depth 0.00 2020-12-09T06:34:40Z- waiting for 1607495681.70, time is 1607495679.91 2020-12-09T06:34:40Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:40Z- handleDvl() - RDI_Pathfinder msg: 1607495680.32 epoch sec; seqNo:404 2020-12-09T06:34:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.15 , 57.40 , 41.68 , 55.73 2020-12-09T06:34:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.03 , -0.04 2020-12-09T06:34:40Z- waiting for 1607495681.70, time is 1607495680.32 2020-12-09T06:34:40Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495680.35 epoch sec; seqNo:745; 4061666.36 north; 594461.35 east 2020-12-09T06:34:40Z- waiting for 1607495681.70, time is 1607495680.32 2020-12-09T06:34:40Z- sync is 0.03, coherence is 2.00 2020-12-09T06:34:40Z- AHRS_M2 msg: 1607495680.71 epoch sec; seqNo:717 2020-12-09T06:34:40Z- AHRS_M2 msg: 4.66 phi; -0.18 theta; -0.23 psi 2020-12-09T06:34:40Z- waiting for 1607495681.70, time is 1607495680.32 2020-12-09T06:34:40Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:40Z- handleDepth()-Depth_Keller msg: 38.96 epoch sec; seqNo:1607495680718; depth 0.00 2020-12-09T06:34:40Z- waiting for 1607495681.70, time is 1607495680.32 2020-12-09T06:34:40Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495680.73 epoch sec; seqNo:746; 4061666.34 north; 594460.13 east 2020-12-09T06:34:40Z- waiting for 1607495681.70, time is 1607495680.32 2020-12-09T06:34:40Z- sync is 0.41, coherence is 2.00 2020-12-09T06:34:41Z- AHRS_M2 msg: 1607495681.12 epoch sec; seqNo:718 2020-12-09T06:34:41Z- AHRS_M2 msg: 4.66 phi; -0.18 theta; -0.23 psi 2020-12-09T06:34:41Z- waiting for 1607495681.70, time is 1607495680.32 2020-12-09T06:34:41Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:41Z- handleDepth()-Depth_Keller msg: 39.03 epoch sec; seqNo:1607495681120; depth 0.00 2020-12-09T06:34:41Z- waiting for 1607495681.70, time is 1607495680.32 2020-12-09T06:34:41Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:41Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:41Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:41Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:41Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:34:41Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:34:41Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:34:41Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:34:41Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:34:41Z- handleDvl() - RDI_Pathfinder msg: 1607495681.12 epoch sec; seqNo:405 2020-12-09T06:34:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:34:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.03 , -0.04 2020-12-09T06:34:41Z- waiting for 1607495681.70, time is 1607495681.12 2020-12-09T06:34:41Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495681.13 epoch sec; seqNo:747; 4061666.34 north; 594460.13 east 2020-12-09T06:34:41Z- waiting for 1607495681.70, time is 1607495681.12 2020-12-09T06:34:41Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:41Z- AHRS_M2 msg: 1607495681.52 epoch sec; seqNo:719 2020-12-09T06:34:41Z- AHRS_M2 msg: 4.66 phi; -0.18 theta; -0.23 psi 2020-12-09T06:34:41Z- waiting for 1607495681.70, time is 1607495681.12 2020-12-09T06:34:41Z- sync is 0.40, coherence is 2.00 2020-12-09T06:34:41Z- handleDepth()-Depth_Keller msg: 39.07 epoch sec; seqNo:1607495681522; depth 0.00 2020-12-09T06:34:41Z- waiting for 1607495681.70, time is 1607495681.12 2020-12-09T06:34:41Z- sync is 0.40, coherence is 2.00 2020-12-09T06:34:41Z- handleDvl() - RDI_Pathfinder msg: 1607495681.54 epoch sec; seqNo:406 2020-12-09T06:34:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.68 , 55.73 , 41.68 , 55.73 2020-12-09T06:34:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.01 , -0.05 2020-12-09T06:34:41Z- waiting for 1607495681.70, time is 1607495681.54 2020-12-09T06:34:41Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495681.56 epoch sec; seqNo:748; 4061666.34 north; 594460.13 east 2020-12-09T06:34:41Z- waiting for 1607495681.70, time is 1607495681.54 2020-12-09T06:34:41Z- sync is 0.03, coherence is 2.00 2020-12-09T06:34:41Z- AHRS_M2 msg: 1607495681.92 epoch sec; seqNo:720 2020-12-09T06:34:41Z- AHRS_M2 msg: 4.66 phi; -0.18 theta; -0.23 psi 2020-12-09T06:34:41Z- waiting for 1607495681.70, time is 1607495681.54 2020-12-09T06:34:41Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:41Z- handleDepth()-Depth_Keller msg: 39.12 epoch sec; seqNo:1607495681929; depth 0.00 2020-12-09T06:34:41Z- waiting for 1607495681.70, time is 1607495681.54 2020-12-09T06:34:41Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495681.94 epoch sec; seqNo:749; 4061666.34 north; 594460.13 east 2020-12-09T06:34:41Z- waiting for 1607495681.70, time is 1607495681.54 2020-12-09T06:34:41Z- sync is 0.41, coherence is 2.00 2020-12-09T06:34:42Z- AHRS_M2 msg: 1607495682.33 epoch sec; seqNo:721 2020-12-09T06:34:42Z- AHRS_M2 msg: 4.66 phi; -0.18 theta; -0.23 psi 2020-12-09T06:34:42Z- waiting for 1607495681.70, time is 1607495681.54 2020-12-09T06:34:42Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:42Z- handleDepth()-Depth_Keller msg: 39.16 epoch sec; seqNo:1607495682332; depth 0.00 2020-12-09T06:34:42Z- waiting for 1607495681.70, time is 1607495681.54 2020-12-09T06:34:42Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:42Z- handleDvl() - RDI_Pathfinder msg: 1607495682.35 epoch sec; seqNo:407 2020-12-09T06:34:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.58 , 55.73 , 41.35 , 55.06 2020-12-09T06:34:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.01 , -0.08 2020-12-09T06:34:42Z- waiting for 1607495681.70, time is 1607495682.35 2020-12-09T06:34:42Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:42Z- LcmTrn::updateTrn() >>>> pose time 1607495682.33, meas time 1607495682.35 <<<< 2020-12-09T06:34:42Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495682.35 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:34:42Z- TerrainNav::motionUpdate() - currEstimate = (4061666, 594460.13, 39.16) 2020-12-09T06:34:42Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:34:42Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:34:42Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:34:42Z- TNavBF::mmse selected from filter -1 2020-12-09T06:34:42Z- variances([0], [2], and psi_berg) = 806.624656 833.118621 0.000000 2020-12-09T06:34:42Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:34:42Z- LcmTrn::cycle() - MLE : 4061634.84 594411.63 39.16 2020-12-09T06:34:42Z- LcmTrn::cycle() - MMSE : 4061666.34 594460.13 39.16 2020-12-09T06:34:42Z- LcmTrn::cycle() - COVAR: 806.62 833.12 38.82 0.00 2020-12-09T06:34:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495682.36 epoch sec; seqNo:750; 4061666.33 north; 594458.91 east 2020-12-09T06:34:42Z- waiting for 1607495685.35, time is 1607495682.35 2020-12-09T06:34:42Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:42Z- AHRS_M2 msg: 1607495682.73 epoch sec; seqNo:722 2020-12-09T06:34:42Z- AHRS_M2 msg: 4.66 phi; -0.17 theta; -0.23 psi 2020-12-09T06:34:42Z- waiting for 1607495685.35, time is 1607495682.35 2020-12-09T06:34:42Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:42Z- handleDepth()-Depth_Keller msg: 39.22 epoch sec; seqNo:1607495682735; depth 0.00 2020-12-09T06:34:42Z- waiting for 1607495685.35, time is 1607495682.35 2020-12-09T06:34:42Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495682.76 epoch sec; seqNo:751; 4061666.33 north; 594458.91 east 2020-12-09T06:34:42Z- waiting for 1607495685.35, time is 1607495682.35 2020-12-09T06:34:42Z- sync is 0.42, coherence is 2.00 2020-12-09T06:34:43Z- AHRS_M2 msg: 1607495683.13 epoch sec; seqNo:723 2020-12-09T06:34:43Z- AHRS_M2 msg: 4.66 phi; -0.17 theta; -0.24 psi 2020-12-09T06:34:43Z- waiting for 1607495685.35, time is 1607495682.35 2020-12-09T06:34:43Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:43Z- handleDepth()-Depth_Keller msg: 39.26 epoch sec; seqNo:1607495683146; depth 0.00 2020-12-09T06:34:43Z- waiting for 1607495685.35, time is 1607495682.35 2020-12-09T06:34:43Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495683.17 epoch sec; seqNo:752; 4061665.95 north; 594458.91 east 2020-12-09T06:34:43Z- waiting for 1607495685.35, time is 1607495682.35 2020-12-09T06:34:43Z- sync is 0.82, coherence is 2.00 2020-12-09T06:34:43Z- AHRS_M2 msg: 1607495683.54 epoch sec; seqNo:724 2020-12-09T06:34:43Z- AHRS_M2 msg: 4.66 phi; -0.17 theta; -0.24 psi 2020-12-09T06:34:43Z- waiting for 1607495685.35, time is 1607495682.35 2020-12-09T06:34:43Z- sync is 1.20, coherence is 2.00 2020-12-09T06:34:43Z- handleDepth()-Depth_Keller msg: 39.30 epoch sec; seqNo:1607495683549; depth 0.00 2020-12-09T06:34:43Z- waiting for 1607495685.35, time is 1607495682.35 2020-12-09T06:34:43Z- sync is 1.20, coherence is 2.00 2020-12-09T06:34:43Z- handleDvl() - RDI_Pathfinder msg: 1607495683.56 epoch sec; seqNo:408 2020-12-09T06:34:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.13 , 0.00 , 41.35 , 55.06 2020-12-09T06:34:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.01 , -0.09 2020-12-09T06:34:43Z- waiting for 1607495685.35, time is 1607495683.56 2020-12-09T06:34:43Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495683.59 epoch sec; seqNo:753; 4061665.94 north; 594457.69 east 2020-12-09T06:34:43Z- waiting for 1607495685.35, time is 1607495683.56 2020-12-09T06:34:43Z- sync is 0.03, coherence is 2.00 2020-12-09T06:34:43Z- AHRS_M2 msg: 1607495683.95 epoch sec; seqNo:725 2020-12-09T06:34:43Z- AHRS_M2 msg: 4.66 phi; -0.16 theta; -0.24 psi 2020-12-09T06:34:43Z- waiting for 1607495685.35, time is 1607495683.56 2020-12-09T06:34:43Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:43Z- handleDepth()-Depth_Keller msg: 39.34 epoch sec; seqNo:1607495683958; depth 0.00 2020-12-09T06:34:43Z- waiting for 1607495685.35, time is 1607495683.56 2020-12-09T06:34:43Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495683.97 epoch sec; seqNo:754; 4061665.94 north; 594457.69 east 2020-12-09T06:34:43Z- waiting for 1607495685.35, time is 1607495683.56 2020-12-09T06:34:43Z- sync is 0.41, coherence is 2.00 2020-12-09T06:34:44Z- AHRS_M2 msg: 1607495684.34 epoch sec; seqNo:726 2020-12-09T06:34:44Z- AHRS_M2 msg: 4.66 phi; -0.16 theta; -0.24 psi 2020-12-09T06:34:44Z- waiting for 1607495685.35, time is 1607495683.56 2020-12-09T06:34:44Z- sync is 0.78, coherence is 2.00 2020-12-09T06:34:44Z- handleDepth()-Depth_Keller msg: 39.38 epoch sec; seqNo:1607495684351; depth 0.00 2020-12-09T06:34:44Z- waiting for 1607495685.35, time is 1607495683.56 2020-12-09T06:34:44Z- sync is 0.78, coherence is 2.00 2020-12-09T06:34:44Z- handleDvl() - RDI_Pathfinder msg: 1607495684.36 epoch sec; seqNo:409 2020-12-09T06:34:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.91 , 0.00 , 41.13 , 54.40 2020-12-09T06:34:44Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , -0.01 , -0.09 2020-12-09T06:34:44Z- waiting for 1607495685.35, time is 1607495684.36 2020-12-09T06:34:44Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495684.39 epoch sec; seqNo:755; 4061665.94 north; 594457.69 east 2020-12-09T06:34:44Z- waiting for 1607495685.35, time is 1607495684.36 2020-12-09T06:34:44Z- sync is 0.03, coherence is 2.00 2020-12-09T06:34:44Z- AHRS_M2 msg: 1607495684.75 epoch sec; seqNo:727 2020-12-09T06:34:44Z- AHRS_M2 msg: 4.66 phi; -0.16 theta; -0.23 psi 2020-12-09T06:34:44Z- waiting for 1607495685.35, time is 1607495684.36 2020-12-09T06:34:44Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:44Z- handleDepth()-Depth_Keller msg: 39.44 epoch sec; seqNo:1607495684905; depth 0.00 2020-12-09T06:34:44Z- waiting for 1607495685.35, time is 1607495684.36 2020-12-09T06:34:44Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:44Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:44Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:44Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:44Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:34:44Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:34:44Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:34:44Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:34:44Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:34:44Z- handleDvl() - RDI_Pathfinder msg: 1607495684.91 epoch sec; seqNo:410 2020-12-09T06:34:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:34:44Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , -0.01 , -0.09 2020-12-09T06:34:44Z- waiting for 1607495685.35, time is 1607495684.91 2020-12-09T06:34:44Z- sync is 0.16, coherence is 2.00 2020-12-09T06:34:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495684.92 epoch sec; seqNo:756; 4061665.93 north; 594456.47 east 2020-12-09T06:34:44Z- waiting for 1607495685.35, time is 1607495684.91 2020-12-09T06:34:44Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:45Z- AHRS_M2 msg: 1607495685.15 epoch sec; seqNo:728 2020-12-09T06:34:45Z- AHRS_M2 msg: 4.66 phi; -0.16 theta; -0.23 psi 2020-12-09T06:34:45Z- waiting for 1607495685.35, time is 1607495684.91 2020-12-09T06:34:45Z- sync is 0.25, coherence is 2.00 2020-12-09T06:34:45Z- handleDepth()-Depth_Keller msg: 39.50 epoch sec; seqNo:1607495685181; depth 0.00 2020-12-09T06:34:45Z- waiting for 1607495685.35, time is 1607495684.91 2020-12-09T06:34:45Z- sync is 0.25, coherence is 2.00 2020-12-09T06:34:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495685.23 epoch sec; seqNo:757; 4061665.93 north; 594456.47 east 2020-12-09T06:34:45Z- waiting for 1607495685.35, time is 1607495684.91 2020-12-09T06:34:45Z- sync is 0.33, coherence is 2.00 2020-12-09T06:34:45Z- AHRS_M2 msg: 1607495685.56 epoch sec; seqNo:729 2020-12-09T06:34:45Z- AHRS_M2 msg: 4.66 phi; -0.16 theta; -0.23 psi 2020-12-09T06:34:45Z- waiting for 1607495685.35, time is 1607495684.91 2020-12-09T06:34:45Z- sync is 0.65, coherence is 2.00 2020-12-09T06:34:45Z- handleDepth()-Depth_Keller msg: 39.54 epoch sec; seqNo:1607495685594; depth 0.00 2020-12-09T06:34:45Z- waiting for 1607495685.35, time is 1607495684.91 2020-12-09T06:34:45Z- sync is 0.65, coherence is 2.00 2020-12-09T06:34:45Z- handleDvl() - RDI_Pathfinder msg: 1607495685.61 epoch sec; seqNo:411 2020-12-09T06:34:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.91 , 50.64 , 41.13 , 53.74 2020-12-09T06:34:45Z- handleDvl() - RDI_Pathfinder msg: velocities 1.17 , 0.03 , -0.07 2020-12-09T06:34:45Z- waiting for 1607495685.35, time is 1607495685.61 2020-12-09T06:34:45Z- sync is 0.05, coherence is 2.00 2020-12-09T06:34:45Z- LcmTrn::updateTrn() >>>> pose time 1607495685.56, meas time 1607495685.61 <<<< 2020-12-09T06:34:45Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495685.61 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:34:45Z- TerrainNav::motionUpdate() - currEstimate = (4061666, 594456.47, 39.54) 2020-12-09T06:34:45Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:34:45Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:34:45Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:34:45Z- TNavBF::mmse selected from filter -1 2020-12-09T06:34:45Z- variances([0], [2], and psi_berg) = 806.371634 833.117962 0.000000 2020-12-09T06:34:45Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:34:45Z- LcmTrn::cycle() - MLE : 4061634.43 594407.97 39.54 2020-12-09T06:34:45Z- LcmTrn::cycle() - MMSE : 4061665.93 594456.47 39.54 2020-12-09T06:34:45Z- LcmTrn::cycle() - COVAR: 806.37 833.12 39.01 0.00 2020-12-09T06:34:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495685.62 epoch sec; seqNo:758; 4061665.91 north; 594455.25 east 2020-12-09T06:34:45Z- waiting for 1607495688.61, time is 1607495685.61 2020-12-09T06:34:45Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:45Z- AHRS_M2 msg: 1607495685.96 epoch sec; seqNo:730 2020-12-09T06:34:45Z- AHRS_M2 msg: 4.66 phi; -0.15 theta; -0.23 psi 2020-12-09T06:34:45Z- waiting for 1607495688.61, time is 1607495685.61 2020-12-09T06:34:45Z- sync is 0.36, coherence is 2.00 2020-12-09T06:34:45Z- handleDepth()-Depth_Keller msg: 39.58 epoch sec; seqNo:1607495685998; depth 0.00 2020-12-09T06:34:45Z- waiting for 1607495688.61, time is 1607495685.61 2020-12-09T06:34:45Z- sync is 0.36, coherence is 2.00 2020-12-09T06:34:45Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:45Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:45Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:45Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:34:45Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:34:45Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:34:45Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:34:45Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:34:45Z- handleDvl() - RDI_Pathfinder msg: 1607495686.00 epoch sec; seqNo:412 2020-12-09T06:34:45Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:34:45Z- handleDvl() - RDI_Pathfinder msg: velocities 1.17 , 0.03 , -0.07 2020-12-09T06:34:45Z- waiting for 1607495688.61, time is 1607495686.00 2020-12-09T06:34:45Z- sync is 0.04, coherence is 2.00 2020-12-09T06:34:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495686.02 epoch sec; seqNo:759; 4061665.91 north; 594455.25 east 2020-12-09T06:34:46Z- waiting for 1607495688.61, time is 1607495686.00 2020-12-09T06:34:46Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:46Z- AHRS_M2 msg: 1607495686.37 epoch sec; seqNo:731 2020-12-09T06:34:46Z- AHRS_M2 msg: 4.66 phi; -0.15 theta; -0.22 psi 2020-12-09T06:34:46Z- waiting for 1607495688.61, time is 1607495686.00 2020-12-09T06:34:46Z- sync is 0.37, coherence is 2.00 2020-12-09T06:34:46Z- handleDepth()-Depth_Keller msg: 39.64 epoch sec; seqNo:1607495686371; depth 0.00 2020-12-09T06:34:46Z- waiting for 1607495688.61, time is 1607495686.00 2020-12-09T06:34:46Z- sync is 0.37, coherence is 2.00 2020-12-09T06:34:46Z- handleDvl() - RDI_Pathfinder msg: 1607495686.38 epoch sec; seqNo:413 2020-12-09T06:34:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.47 , 50.42 , 40.91 , 53.07 2020-12-09T06:34:46Z- handleDvl() - RDI_Pathfinder msg: velocities 1.23 , 0.05 , 0.00 2020-12-09T06:34:46Z- waiting for 1607495688.61, time is 1607495686.38 2020-12-09T06:34:46Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495686.39 epoch sec; seqNo:760; 4061665.91 north; 594455.25 east 2020-12-09T06:34:46Z- waiting for 1607495688.61, time is 1607495686.38 2020-12-09T06:34:46Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:46Z- AHRS_M2 msg: 1607495686.77 epoch sec; seqNo:732 2020-12-09T06:34:46Z- AHRS_M2 msg: 4.65 phi; -0.15 theta; -0.22 psi 2020-12-09T06:34:46Z- waiting for 1607495688.61, time is 1607495686.38 2020-12-09T06:34:46Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:46Z- handleDepth()-Depth_Keller msg: 39.71 epoch sec; seqNo:1607495686785; depth 0.00 2020-12-09T06:34:46Z- waiting for 1607495688.61, time is 1607495686.38 2020-12-09T06:34:46Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495686.80 epoch sec; seqNo:761; 4061665.90 north; 594454.03 east 2020-12-09T06:34:46Z- waiting for 1607495688.61, time is 1607495686.38 2020-12-09T06:34:46Z- sync is 0.42, coherence is 2.00 2020-12-09T06:34:47Z- AHRS_M2 msg: 1607495687.18 epoch sec; seqNo:733 2020-12-09T06:34:47Z- AHRS_M2 msg: 4.65 phi; -0.15 theta; -0.21 psi 2020-12-09T06:34:47Z- waiting for 1607495688.61, time is 1607495686.38 2020-12-09T06:34:47Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:47Z- handleDepth()-Depth_Keller msg: 39.75 epoch sec; seqNo:1607495687183; depth 0.00 2020-12-09T06:34:47Z- waiting for 1607495688.61, time is 1607495686.38 2020-12-09T06:34:47Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:47Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:47Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:47Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:47Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:34:47Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:34:47Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:34:47Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:34:47Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:34:47Z- handleDvl() - RDI_Pathfinder msg: 1607495687.18 epoch sec; seqNo:414 2020-12-09T06:34:47Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:34:47Z- handleDvl() - RDI_Pathfinder msg: velocities 1.23 , 0.05 , 0.00 2020-12-09T06:34:47Z- waiting for 1607495688.61, time is 1607495687.18 2020-12-09T06:34:47Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495687.23 epoch sec; seqNo:762; 4061665.90 north; 594454.03 east 2020-12-09T06:34:47Z- waiting for 1607495688.61, time is 1607495687.18 2020-12-09T06:34:47Z- sync is 0.05, coherence is 2.00 2020-12-09T06:34:47Z- AHRS_M2 msg: 1607495687.58 epoch sec; seqNo:734 2020-12-09T06:34:47Z- AHRS_M2 msg: 4.64 phi; -0.15 theta; -0.21 psi 2020-12-09T06:34:47Z- waiting for 1607495688.61, time is 1607495687.18 2020-12-09T06:34:47Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:47Z- handleDepth()-Depth_Keller msg: 39.82 epoch sec; seqNo:1607495687582; depth 0.00 2020-12-09T06:34:47Z- waiting for 1607495688.61, time is 1607495687.18 2020-12-09T06:34:47Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:47Z- handleDvl() - RDI_Pathfinder msg: 1607495687.59 epoch sec; seqNo:415 2020-12-09T06:34:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.58 , 49.54 , 40.91 , 51.97 2020-12-09T06:34:47Z- handleDvl() - RDI_Pathfinder msg: velocities 1.23 , 0.09 , 0.09 2020-12-09T06:34:47Z- waiting for 1607495688.61, time is 1607495687.59 2020-12-09T06:34:47Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495687.61 epoch sec; seqNo:763; 4061665.88 north; 594452.81 east 2020-12-09T06:34:47Z- waiting for 1607495688.61, time is 1607495687.59 2020-12-09T06:34:47Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:47Z- AHRS_M2 msg: 1607495687.98 epoch sec; seqNo:735 2020-12-09T06:34:47Z- AHRS_M2 msg: 4.64 phi; -0.15 theta; -0.21 psi 2020-12-09T06:34:47Z- waiting for 1607495688.61, time is 1607495687.59 2020-12-09T06:34:47Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:47Z- handleDepth()-Depth_Keller msg: 39.88 epoch sec; seqNo:1607495687994; depth 0.00 2020-12-09T06:34:47Z- waiting for 1607495688.61, time is 1607495687.59 2020-12-09T06:34:47Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495688.01 epoch sec; seqNo:764; 4061665.88 north; 594452.81 east 2020-12-09T06:34:48Z- waiting for 1607495688.61, time is 1607495687.59 2020-12-09T06:34:48Z- sync is 0.41, coherence is 2.00 2020-12-09T06:34:48Z- AHRS_M2 msg: 1607495688.39 epoch sec; seqNo:736 2020-12-09T06:34:48Z- AHRS_M2 msg: 4.64 phi; -0.15 theta; -0.20 psi 2020-12-09T06:34:48Z- waiting for 1607495688.61, time is 1607495687.59 2020-12-09T06:34:48Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:48Z- handleDepth()-Depth_Keller msg: 39.95 epoch sec; seqNo:1607495688390; depth 0.00 2020-12-09T06:34:48Z- waiting for 1607495688.61, time is 1607495687.59 2020-12-09T06:34:48Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:48Z- handleDvl() - RDI_Pathfinder msg: 1607495688.43 epoch sec; seqNo:416 2020-12-09T06:34:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.14 , 49.76 , 40.91 , 51.75 2020-12-09T06:34:48Z- handleDvl() - RDI_Pathfinder msg: velocities 1.18 , 0.11 , 0.16 2020-12-09T06:34:48Z- waiting for 1607495688.61, time is 1607495688.43 2020-12-09T06:34:48Z- sync is 0.04, coherence is 2.00 2020-12-09T06:34:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495688.44 epoch sec; seqNo:765; 4061665.88 north; 594452.81 east 2020-12-09T06:34:48Z- waiting for 1607495688.61, time is 1607495688.43 2020-12-09T06:34:48Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:48Z- handleDepth()-Depth_Keller msg: 40.02 epoch sec; seqNo:1607495688810; depth 0.00 2020-12-09T06:34:48Z- waiting for 1607495688.61, time is 1607495688.43 2020-12-09T06:34:48Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495688.83 epoch sec; seqNo:766; 4061665.87 north; 594451.59 east 2020-12-09T06:34:48Z- waiting for 1607495688.61, time is 1607495688.43 2020-12-09T06:34:48Z- sync is 0.40, coherence is 2.00 2020-12-09T06:34:49Z- AHRS_M2 msg: 1607495689.22 epoch sec; seqNo:737 2020-12-09T06:34:49Z- AHRS_M2 msg: 4.63 phi; -0.15 theta; -0.20 psi 2020-12-09T06:34:49Z- waiting for 1607495688.61, time is 1607495688.43 2020-12-09T06:34:49Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:49Z- handleDepth()-Depth_Keller msg: 40.08 epoch sec; seqNo:1607495689231; depth 0.00 2020-12-09T06:34:49Z- waiting for 1607495688.61, time is 1607495688.43 2020-12-09T06:34:49Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:49Z- handleDvl() - RDI_Pathfinder msg: 1607495689.25 epoch sec; seqNo:417 2020-12-09T06:34:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.14 , 49.54 , 41.13 , 51.97 2020-12-09T06:34:49Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , 0.10 , 0.19 2020-12-09T06:34:49Z- waiting for 1607495688.61, time is 1607495689.25 2020-12-09T06:34:49Z- sync is 0.04, coherence is 2.00 2020-12-09T06:34:49Z- LcmTrn::updateTrn() >>>> pose time 1607495689.22, meas time 1607495689.25 <<<< 2020-12-09T06:34:49Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495689.25 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:34:49Z- TerrainNav::motionUpdate() - currEstimate = (4061666, 594451.59, 40.08) 2020-12-09T06:34:49Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:34:49Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:34:49Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:34:49Z- TNavBF::mmse selected from filter -1 2020-12-09T06:34:49Z- variances([0], [2], and psi_berg) = 806.082067 833.117213 0.000000 2020-12-09T06:34:49Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:34:49Z- LcmTrn::cycle() - MLE : 4061634.37 594403.09 40.08 2020-12-09T06:34:49Z- LcmTrn::cycle() - MMSE : 4061665.87 594451.59 40.08 2020-12-09T06:34:49Z- LcmTrn::cycle() - COVAR: 806.08 833.12 39.26 0.00 2020-12-09T06:34:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495689.27 epoch sec; seqNo:767; 4061665.87 north; 594451.59 east 2020-12-09T06:34:49Z- waiting for 1607495692.25, time is 1607495689.25 2020-12-09T06:34:49Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:49Z- AHRS_M2 msg: 1607495689.60 epoch sec; seqNo:738 2020-12-09T06:34:49Z- AHRS_M2 msg: 4.63 phi; -0.15 theta; -0.20 psi 2020-12-09T06:34:49Z- waiting for 1607495692.25, time is 1607495689.25 2020-12-09T06:34:49Z- sync is 0.34, coherence is 2.00 2020-12-09T06:34:49Z- handleDepth()-Depth_Keller msg: 40.16 epoch sec; seqNo:1607495689606; depth 0.00 2020-12-09T06:34:49Z- waiting for 1607495692.25, time is 1607495689.25 2020-12-09T06:34:49Z- sync is 0.34, coherence is 2.00 2020-12-09T06:34:49Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:49Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:49Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:49Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:34:49Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:34:49Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:34:49Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:34:49Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:34:49Z- handleDvl() - RDI_Pathfinder msg: 1607495689.61 epoch sec; seqNo:418 2020-12-09T06:34:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:34:49Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , 0.10 , 0.19 2020-12-09T06:34:49Z- waiting for 1607495692.25, time is 1607495689.61 2020-12-09T06:34:49Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495689.63 epoch sec; seqNo:768; 4061665.87 north; 594451.59 east 2020-12-09T06:34:49Z- waiting for 1607495692.25, time is 1607495689.61 2020-12-09T06:34:49Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:49Z- AHRS_M2 msg: 1607495690.00 epoch sec; seqNo:739 2020-12-09T06:34:49Z- AHRS_M2 msg: 4.63 phi; -0.15 theta; -0.21 psi 2020-12-09T06:34:49Z- waiting for 1607495692.25, time is 1607495689.61 2020-12-09T06:34:49Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:49Z- handleDepth()-Depth_Keller msg: 40.23 epoch sec; seqNo:1607495690005; depth 0.00 2020-12-09T06:34:49Z- waiting for 1607495692.25, time is 1607495689.61 2020-12-09T06:34:49Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495690.01 epoch sec; seqNo:769; 4061665.86 north; 594450.37 east 2020-12-09T06:34:50Z- waiting for 1607495692.25, time is 1607495689.61 2020-12-09T06:34:50Z- sync is 0.41, coherence is 2.00 2020-12-09T06:34:50Z- AHRS_M2 msg: 1607495690.41 epoch sec; seqNo:740 2020-12-09T06:34:50Z- AHRS_M2 msg: 4.63 phi; -0.15 theta; -0.21 psi 2020-12-09T06:34:50Z- waiting for 1607495692.25, time is 1607495689.61 2020-12-09T06:34:50Z- sync is 0.80, coherence is 2.00 2020-12-09T06:34:50Z- handleDepth()-Depth_Keller msg: 40.28 epoch sec; seqNo:1607495690418; depth 0.00 2020-12-09T06:34:50Z- waiting for 1607495692.25, time is 1607495689.61 2020-12-09T06:34:50Z- sync is 0.80, coherence is 2.00 2020-12-09T06:34:50Z- handleDvl() - RDI_Pathfinder msg: 1607495690.43 epoch sec; seqNo:419 2020-12-09T06:34:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.70 , 49.54 , 40.91 , 51.97 2020-12-09T06:34:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.09 , 0.16 2020-12-09T06:34:50Z- waiting for 1607495692.25, time is 1607495690.43 2020-12-09T06:34:50Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495690.46 epoch sec; seqNo:770; 4061665.86 north; 594450.37 east 2020-12-09T06:34:50Z- waiting for 1607495692.25, time is 1607495690.43 2020-12-09T06:34:50Z- sync is 0.03, coherence is 2.00 2020-12-09T06:34:50Z- AHRS_M2 msg: 1607495690.81 epoch sec; seqNo:741 2020-12-09T06:34:50Z- AHRS_M2 msg: 4.63 phi; -0.16 theta; -0.21 psi 2020-12-09T06:34:50Z- waiting for 1607495692.25, time is 1607495690.43 2020-12-09T06:34:50Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:50Z- handleDepth()-Depth_Keller msg: 40.35 epoch sec; seqNo:1607495690820; depth 0.00 2020-12-09T06:34:50Z- waiting for 1607495692.25, time is 1607495690.43 2020-12-09T06:34:50Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:50Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:50Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:50Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:50Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:34:50Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:34:50Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:34:50Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:34:50Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:34:50Z- handleDvl() - RDI_Pathfinder msg: 1607495690.82 epoch sec; seqNo:420 2020-12-09T06:34:50Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:34:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.09 , 0.16 2020-12-09T06:34:50Z- waiting for 1607495692.25, time is 1607495690.82 2020-12-09T06:34:50Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495690.84 epoch sec; seqNo:771; 4061665.86 north; 594450.37 east 2020-12-09T06:34:50Z- waiting for 1607495692.25, time is 1607495690.82 2020-12-09T06:34:50Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:51Z- AHRS_M2 msg: 1607495691.23 epoch sec; seqNo:742 2020-12-09T06:34:51Z- AHRS_M2 msg: 4.63 phi; -0.16 theta; -0.21 psi 2020-12-09T06:34:51Z- waiting for 1607495692.25, time is 1607495690.82 2020-12-09T06:34:51Z- sync is 0.40, coherence is 2.00 2020-12-09T06:34:51Z- handleDepth()-Depth_Keller msg: 40.42 epoch sec; seqNo:1607495691237; depth 0.00 2020-12-09T06:34:51Z- waiting for 1607495692.25, time is 1607495690.82 2020-12-09T06:34:51Z- sync is 0.40, coherence is 2.00 2020-12-09T06:34:51Z- handleDvl() - RDI_Pathfinder msg: 1607495691.25 epoch sec; seqNo:421 2020-12-09T06:34:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.58 , 49.60 , 40.83 , 52.46 2020-12-09T06:34:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.08 , 0.08 2020-12-09T06:34:51Z- waiting for 1607495692.25, time is 1607495691.25 2020-12-09T06:34:51Z- sync is 0.03, coherence is 2.00 2020-12-09T06:34:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495691.27 epoch sec; seqNo:772; 4061665.84 north; 594449.15 east 2020-12-09T06:34:51Z- waiting for 1607495692.25, time is 1607495691.25 2020-12-09T06:34:51Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:51Z- AHRS_M2 msg: 1607495691.62 epoch sec; seqNo:743 2020-12-09T06:34:51Z- AHRS_M2 msg: 4.64 phi; -0.16 theta; -0.21 psi 2020-12-09T06:34:51Z- waiting for 1607495692.25, time is 1607495691.25 2020-12-09T06:34:51Z- sync is 0.37, coherence is 2.00 2020-12-09T06:34:51Z- handleDepth()-Depth_Keller msg: 40.49 epoch sec; seqNo:1607495691623; depth 0.00 2020-12-09T06:34:51Z- waiting for 1607495692.25, time is 1607495691.25 2020-12-09T06:34:51Z- sync is 0.37, coherence is 2.00 2020-12-09T06:34:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495691.64 epoch sec; seqNo:773; 4061665.84 north; 594449.15 east 2020-12-09T06:34:51Z- waiting for 1607495692.25, time is 1607495691.25 2020-12-09T06:34:51Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:52Z- AHRS_M2 msg: 1607495692.02 epoch sec; seqNo:744 2020-12-09T06:34:52Z- AHRS_M2 msg: 4.64 phi; -0.16 theta; -0.21 psi 2020-12-09T06:34:52Z- waiting for 1607495692.25, time is 1607495691.25 2020-12-09T06:34:52Z- sync is 0.77, coherence is 2.00 2020-12-09T06:34:52Z- handleDepth()-Depth_Keller msg: 40.53 epoch sec; seqNo:1607495692028; depth 0.00 2020-12-09T06:34:52Z- waiting for 1607495692.25, time is 1607495691.25 2020-12-09T06:34:52Z- sync is 0.77, coherence is 2.00 2020-12-09T06:34:52Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:52Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:52Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:52Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:34:52Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:34:52Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:34:52Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:34:52Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:34:52Z- handleDvl() - RDI_Pathfinder msg: 1607495692.03 epoch sec; seqNo:422 2020-12-09T06:34:52Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:34:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.08 , 0.08 2020-12-09T06:34:52Z- waiting for 1607495692.25, time is 1607495692.03 2020-12-09T06:34:52Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495692.04 epoch sec; seqNo:774; 4061665.84 north; 594449.15 east 2020-12-09T06:34:52Z- waiting for 1607495692.25, time is 1607495692.03 2020-12-09T06:34:52Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:52Z- AHRS_M2 msg: 1607495692.43 epoch sec; seqNo:745 2020-12-09T06:34:52Z- AHRS_M2 msg: 4.65 phi; -0.16 theta; -0.21 psi 2020-12-09T06:34:52Z- waiting for 1607495692.25, time is 1607495692.03 2020-12-09T06:34:52Z- sync is 0.40, coherence is 2.00 2020-12-09T06:34:52Z- handleDepth()-Depth_Keller msg: 40.61 epoch sec; seqNo:1607495692434; depth 0.00 2020-12-09T06:34:52Z- waiting for 1607495692.25, time is 1607495692.03 2020-12-09T06:34:52Z- sync is 0.40, coherence is 2.00 2020-12-09T06:34:52Z- handleDvl() - RDI_Pathfinder msg: 1607495692.44 epoch sec; seqNo:423 2020-12-09T06:34:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.70 , 49.31 , 40.47 , 52.41 2020-12-09T06:34:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , 0.06 , -0.01 2020-12-09T06:34:52Z- waiting for 1607495692.25, time is 1607495692.44 2020-12-09T06:34:52Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:52Z- LcmTrn::updateTrn() >>>> pose time 1607495692.43, meas time 1607495692.44 <<<< 2020-12-09T06:34:52Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495692.44 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:34:52Z- TerrainNav::motionUpdate() - currEstimate = (4061666, 594449.15, 40.61) 2020-12-09T06:34:52Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:34:52Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:34:52Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:34:52Z- TNavBF::mmse selected from filter -1 2020-12-09T06:34:52Z- variances([0], [2], and psi_berg) = 805.878788 833.116693 0.000000 2020-12-09T06:34:52Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:34:52Z- LcmTrn::cycle() - MLE : 4061634.34 594400.65 40.61 2020-12-09T06:34:52Z- LcmTrn::cycle() - MMSE : 4061665.84 594449.15 40.61 2020-12-09T06:34:52Z- LcmTrn::cycle() - COVAR: 805.88 833.12 39.38 0.00 2020-12-09T06:34:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495692.46 epoch sec; seqNo:775; 4061665.83 north; 594447.93 east 2020-12-09T06:34:52Z- waiting for 1607495695.44, time is 1607495692.44 2020-12-09T06:34:52Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:52Z- AHRS_M2 msg: 1607495692.83 epoch sec; seqNo:746 2020-12-09T06:34:52Z- AHRS_M2 msg: 4.65 phi; -0.16 theta; -0.21 psi 2020-12-09T06:34:52Z- waiting for 1607495695.44, time is 1607495692.44 2020-12-09T06:34:52Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:52Z- handleDepth()-Depth_Keller msg: 40.67 epoch sec; seqNo:1607495692834; depth 0.00 2020-12-09T06:34:52Z- waiting for 1607495695.44, time is 1607495692.44 2020-12-09T06:34:52Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495692.86 epoch sec; seqNo:776; 4061665.83 north; 594447.93 east 2020-12-09T06:34:52Z- waiting for 1607495695.44, time is 1607495692.44 2020-12-09T06:34:52Z- sync is 0.41, coherence is 2.00 2020-12-09T06:34:53Z- AHRS_M2 msg: 1607495693.23 epoch sec; seqNo:747 2020-12-09T06:34:53Z- AHRS_M2 msg: 4.66 phi; -0.16 theta; -0.21 psi 2020-12-09T06:34:53Z- waiting for 1607495695.44, time is 1607495692.44 2020-12-09T06:34:53Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:53Z- handleDepth()-Depth_Keller msg: 40.72 epoch sec; seqNo:1607495693238; depth 0.00 2020-12-09T06:34:53Z- waiting for 1607495695.44, time is 1607495692.44 2020-12-09T06:34:53Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:53Z- handleDvl() - RDI_Pathfinder msg: 1607495693.25 epoch sec; seqNo:424 2020-12-09T06:34:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.58 , 49.40 , 40.21 , 52.46 2020-12-09T06:34:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.04 , -0.06 2020-12-09T06:34:53Z- waiting for 1607495695.44, time is 1607495693.25 2020-12-09T06:34:53Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495693.28 epoch sec; seqNo:777; 4061665.83 north; 594447.93 east 2020-12-09T06:34:53Z- waiting for 1607495695.44, time is 1607495693.25 2020-12-09T06:34:53Z- sync is 0.03, coherence is 2.00 2020-12-09T06:34:53Z- AHRS_M2 msg: 1607495693.64 epoch sec; seqNo:748 2020-12-09T06:34:53Z- AHRS_M2 msg: 4.66 phi; -0.16 theta; -0.21 psi 2020-12-09T06:34:53Z- waiting for 1607495695.44, time is 1607495693.25 2020-12-09T06:34:53Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:53Z- handleDepth()-Depth_Keller msg: 40.77 epoch sec; seqNo:1607495693650; depth 0.00 2020-12-09T06:34:53Z- waiting for 1607495695.44, time is 1607495693.25 2020-12-09T06:34:53Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495693.66 epoch sec; seqNo:778; 4061665.83 north; 594447.93 east 2020-12-09T06:34:53Z- waiting for 1607495695.44, time is 1607495693.25 2020-12-09T06:34:53Z- sync is 0.41, coherence is 2.00 2020-12-09T06:34:54Z- AHRS_M2 msg: 1607495694.05 epoch sec; seqNo:749 2020-12-09T06:34:54Z- AHRS_M2 msg: 4.66 phi; -0.16 theta; -0.20 psi 2020-12-09T06:34:54Z- waiting for 1607495695.44, time is 1607495693.25 2020-12-09T06:34:54Z- sync is 0.80, coherence is 2.00 2020-12-09T06:34:54Z- handleDepth()-Depth_Keller msg: 40.83 epoch sec; seqNo:1607495694060; depth 0.00 2020-12-09T06:34:54Z- waiting for 1607495695.44, time is 1607495693.25 2020-12-09T06:34:54Z- sync is 0.80, coherence is 2.00 2020-12-09T06:34:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495694.07 epoch sec; seqNo:779; 4061665.82 north; 594446.71 east 2020-12-09T06:34:54Z- waiting for 1607495695.44, time is 1607495693.25 2020-12-09T06:34:54Z- sync is 0.82, coherence is 2.00 2020-12-09T06:34:54Z- AHRS_M2 msg: 1607495694.44 epoch sec; seqNo:750 2020-12-09T06:34:54Z- AHRS_M2 msg: 4.67 phi; -0.15 theta; -0.20 psi 2020-12-09T06:34:54Z- waiting for 1607495695.44, time is 1607495693.25 2020-12-09T06:34:54Z- sync is 1.19, coherence is 2.00 2020-12-09T06:34:54Z- handleDepth()-Depth_Keller msg: 40.89 epoch sec; seqNo:1607495694451; depth 0.00 2020-12-09T06:34:54Z- waiting for 1607495695.44, time is 1607495693.25 2020-12-09T06:34:54Z- sync is 1.19, coherence is 2.00 2020-12-09T06:34:54Z- handleDvl() - RDI_Pathfinder msg: 1607495694.47 epoch sec; seqNo:425 2020-12-09T06:34:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.97 , 49.60 , 40.21 , 52.05 2020-12-09T06:34:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.01 , -0.08 2020-12-09T06:34:54Z- waiting for 1607495695.44, time is 1607495694.47 2020-12-09T06:34:54Z- sync is 0.03, coherence is 2.00 2020-12-09T06:34:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495694.49 epoch sec; seqNo:780; 4061665.82 north; 594446.71 east 2020-12-09T06:34:54Z- waiting for 1607495695.44, time is 1607495694.47 2020-12-09T06:34:54Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:54Z- AHRS_M2 msg: 1607495694.85 epoch sec; seqNo:751 2020-12-09T06:34:54Z- AHRS_M2 msg: 4.67 phi; -0.15 theta; -0.20 psi 2020-12-09T06:34:54Z- waiting for 1607495695.44, time is 1607495694.47 2020-12-09T06:34:54Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:54Z- handleDepth()-Depth_Keller msg: 40.94 epoch sec; seqNo:1607495694855; depth 0.00 2020-12-09T06:34:54Z- waiting for 1607495695.44, time is 1607495694.47 2020-12-09T06:34:54Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495694.87 epoch sec; seqNo:781; 4061665.82 north; 594446.71 east 2020-12-09T06:34:54Z- waiting for 1607495695.44, time is 1607495694.47 2020-12-09T06:34:54Z- sync is 0.40, coherence is 2.00 2020-12-09T06:34:55Z- AHRS_M2 msg: 1607495695.25 epoch sec; seqNo:752 2020-12-09T06:34:55Z- AHRS_M2 msg: 4.67 phi; -0.15 theta; -0.20 psi 2020-12-09T06:34:55Z- waiting for 1607495695.44, time is 1607495694.47 2020-12-09T06:34:55Z- sync is 0.78, coherence is 2.00 2020-12-09T06:34:55Z- handleDepth()-Depth_Keller msg: 41.00 epoch sec; seqNo:1607495695258; depth 0.00 2020-12-09T06:34:55Z- waiting for 1607495695.44, time is 1607495694.47 2020-12-09T06:34:55Z- sync is 0.78, coherence is 2.00 2020-12-09T06:34:55Z- handleDvl() - RDI_Pathfinder msg: 1607495695.27 epoch sec; seqNo:426 2020-12-09T06:34:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.76 , 49.20 , 40.21 , 51.03 2020-12-09T06:34:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.00 , -0.05 2020-12-09T06:34:55Z- waiting for 1607495695.44, time is 1607495695.27 2020-12-09T06:34:55Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495695.29 epoch sec; seqNo:782; 4061665.80 north; 594445.49 east 2020-12-09T06:34:55Z- waiting for 1607495695.44, time is 1607495695.27 2020-12-09T06:34:55Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:55Z- AHRS_M2 msg: 1607495695.66 epoch sec; seqNo:753 2020-12-09T06:34:55Z- AHRS_M2 msg: 4.67 phi; -0.15 theta; -0.20 psi 2020-12-09T06:34:55Z- waiting for 1607495695.44, time is 1607495695.27 2020-12-09T06:34:55Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:55Z- handleDepth()-Depth_Keller msg: 41.02 epoch sec; seqNo:1607495695674; depth 0.00 2020-12-09T06:34:55Z- waiting for 1607495695.44, time is 1607495695.27 2020-12-09T06:34:55Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495695.69 epoch sec; seqNo:783; 4061665.80 north; 594445.49 east 2020-12-09T06:34:55Z- waiting for 1607495695.44, time is 1607495695.27 2020-12-09T06:34:55Z- sync is 0.42, coherence is 2.00 2020-12-09T06:34:56Z- AHRS_M2 msg: 1607495696.06 epoch sec; seqNo:754 2020-12-09T06:34:56Z- AHRS_M2 msg: 4.67 phi; -0.15 theta; -0.20 psi 2020-12-09T06:34:56Z- waiting for 1607495695.44, time is 1607495695.27 2020-12-09T06:34:56Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:56Z- handleDepth()-Depth_Keller msg: 41.08 epoch sec; seqNo:1607495696066; depth 0.00 2020-12-09T06:34:56Z- waiting for 1607495695.44, time is 1607495695.27 2020-12-09T06:34:56Z- sync is 0.79, coherence is 2.00 2020-12-09T06:34:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495696.08 epoch sec; seqNo:784; 4061665.80 north; 594445.49 east 2020-12-09T06:34:56Z- waiting for 1607495695.44, time is 1607495695.27 2020-12-09T06:34:56Z- sync is 0.81, coherence is 2.00 2020-12-09T06:34:56Z- AHRS_M2 msg: 1607495696.47 epoch sec; seqNo:755 2020-12-09T06:34:56Z- AHRS_M2 msg: 4.67 phi; -0.15 theta; -0.20 psi 2020-12-09T06:34:56Z- waiting for 1607495695.44, time is 1607495695.27 2020-12-09T06:34:56Z- sync is 1.20, coherence is 2.00 2020-12-09T06:34:56Z- handleDepth()-Depth_Keller msg: 41.13 epoch sec; seqNo:1607495696473; depth 0.00 2020-12-09T06:34:56Z- waiting for 1607495695.44, time is 1607495695.27 2020-12-09T06:34:56Z- sync is 1.20, coherence is 2.00 2020-12-09T06:34:56Z- handleDvl() - RDI_Pathfinder msg: 1607495696.48 epoch sec; seqNo:427 2020-12-09T06:34:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.76 , 49.60 , 40.01 , 50.83 2020-12-09T06:34:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.03 , 0.00 2020-12-09T06:34:56Z- waiting for 1607495695.44, time is 1607495696.48 2020-12-09T06:34:56Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:56Z- LcmTrn::updateTrn() >>>> pose time 1607495696.47, meas time 1607495696.48 <<<< 2020-12-09T06:34:56Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495696.48 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:34:56Z- TerrainNav::motionUpdate() - currEstimate = (4061666, 594445.49, 41.13) 2020-12-09T06:34:56Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:34:56Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:34:56Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:34:56Z- TNavBF::mmse selected from filter -1 2020-12-09T06:34:56Z- variances([0], [2], and psi_berg) = 805.631058 833.116062 0.000000 2020-12-09T06:34:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:34:56Z- LcmTrn::cycle() - MLE : 4061634.30 594397.99 41.13 2020-12-09T06:34:56Z- LcmTrn::cycle() - MMSE : 4061665.80 594445.49 41.13 2020-12-09T06:34:56Z- LcmTrn::cycle() - COVAR: 805.63 833.12 39.57 0.00 2020-12-09T06:34:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495696.50 epoch sec; seqNo:785; 4061665.79 north; 594444.27 east 2020-12-09T06:34:56Z- waiting for 1607495699.48, time is 1607495696.48 2020-12-09T06:34:56Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:56Z- AHRS_M2 msg: 1607495696.88 epoch sec; seqNo:756 2020-12-09T06:34:56Z- AHRS_M2 msg: 4.67 phi; -0.14 theta; -0.20 psi 2020-12-09T06:34:56Z- waiting for 1607495699.48, time is 1607495696.48 2020-12-09T06:34:56Z- sync is 0.40, coherence is 2.00 2020-12-09T06:34:56Z- handleDepth()-Depth_Keller msg: 41.17 epoch sec; seqNo:1607495696886; depth 0.00 2020-12-09T06:34:56Z- waiting for 1607495699.48, time is 1607495696.48 2020-12-09T06:34:56Z- sync is 0.40, coherence is 2.00 2020-12-09T06:34:56Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:56Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:56Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:56Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:34:56Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:34:56Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:34:56Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:34:56Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:34:56Z- handleDvl() - RDI_Pathfinder msg: 1607495696.89 epoch sec; seqNo:428 2020-12-09T06:34:56Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:34:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.03 , 0.00 2020-12-09T06:34:56Z- waiting for 1607495699.48, time is 1607495696.89 2020-12-09T06:34:56Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495696.90 epoch sec; seqNo:786; 4061665.79 north; 594444.27 east 2020-12-09T06:34:56Z- waiting for 1607495699.48, time is 1607495696.89 2020-12-09T06:34:56Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:57Z- AHRS_M2 msg: 1607495697.28 epoch sec; seqNo:757 2020-12-09T06:34:57Z- AHRS_M2 msg: 4.67 phi; -0.14 theta; -0.20 psi 2020-12-09T06:34:57Z- waiting for 1607495699.48, time is 1607495696.89 2020-12-09T06:34:57Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:57Z- handleDepth()-Depth_Keller msg: 41.22 epoch sec; seqNo:1607495697281; depth 0.00 2020-12-09T06:34:57Z- waiting for 1607495699.48, time is 1607495696.89 2020-12-09T06:34:57Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:57Z- handleDvl() - RDI_Pathfinder msg: 1607495697.30 epoch sec; seqNo:429 2020-12-09T06:34:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.56 , 50.22 , 40.01 , 50.42 2020-12-09T06:34:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.05 , 0.05 2020-12-09T06:34:57Z- waiting for 1607495699.48, time is 1607495697.30 2020-12-09T06:34:57Z- sync is 0.03, coherence is 2.00 2020-12-09T06:34:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495697.31 epoch sec; seqNo:787; 4061665.79 north; 594444.27 east 2020-12-09T06:34:57Z- waiting for 1607495699.48, time is 1607495697.30 2020-12-09T06:34:57Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:57Z- AHRS_M2 msg: 1607495697.68 epoch sec; seqNo:758 2020-12-09T06:34:57Z- AHRS_M2 msg: 4.67 phi; -0.14 theta; -0.20 psi 2020-12-09T06:34:57Z- waiting for 1607495699.48, time is 1607495697.30 2020-12-09T06:34:57Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:57Z- handleDepth()-Depth_Keller msg: 41.27 epoch sec; seqNo:1607495697684; depth 0.00 2020-12-09T06:34:57Z- waiting for 1607495699.48, time is 1607495697.30 2020-12-09T06:34:57Z- sync is 0.38, coherence is 2.00 2020-12-09T06:34:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495697.69 epoch sec; seqNo:788; 4061665.78 north; 594443.05 east 2020-12-09T06:34:57Z- waiting for 1607495699.48, time is 1607495697.30 2020-12-09T06:34:57Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:58Z- AHRS_M2 msg: 1607495698.08 epoch sec; seqNo:759 2020-12-09T06:34:58Z- AHRS_M2 msg: 4.67 phi; -0.14 theta; -0.20 psi 2020-12-09T06:34:58Z- waiting for 1607495699.48, time is 1607495697.30 2020-12-09T06:34:58Z- sync is 0.78, coherence is 2.00 2020-12-09T06:34:58Z- handleDepth()-Depth_Keller msg: 41.31 epoch sec; seqNo:1607495698093; depth 0.00 2020-12-09T06:34:58Z- waiting for 1607495699.48, time is 1607495697.30 2020-12-09T06:34:58Z- sync is 0.78, coherence is 2.00 2020-12-09T06:34:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:34:58Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:34:58Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:34:58Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:34:58Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:34:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:34:58Z- handleDvl() - RDI_Pathfinder msg: 1607495698.10 epoch sec; seqNo:430 2020-12-09T06:34:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:34:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.05 , 0.05 2020-12-09T06:34:58Z- waiting for 1607495699.48, time is 1607495698.10 2020-12-09T06:34:58Z- sync is 0.02, coherence is 2.00 2020-12-09T06:34:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495698.11 epoch sec; seqNo:789; 4061665.78 north; 594443.05 east 2020-12-09T06:34:58Z- waiting for 1607495699.48, time is 1607495698.10 2020-12-09T06:34:58Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:58Z- AHRS_M2 msg: 1607495698.49 epoch sec; seqNo:760 2020-12-09T06:34:58Z- AHRS_M2 msg: 4.67 phi; -0.14 theta; -0.21 psi 2020-12-09T06:34:58Z- waiting for 1607495699.48, time is 1607495698.10 2020-12-09T06:34:58Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:58Z- handleDepth()-Depth_Keller msg: 41.36 epoch sec; seqNo:1607495698641; depth 0.00 2020-12-09T06:34:58Z- waiting for 1607495699.48, time is 1607495698.10 2020-12-09T06:34:58Z- sync is 0.39, coherence is 2.00 2020-12-09T06:34:58Z- handleDvl() - RDI_Pathfinder msg: 1607495698.65 epoch sec; seqNo:431 2020-12-09T06:34:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.36 , 50.42 , 39.81 , 50.01 2020-12-09T06:34:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.06 , 0.08 2020-12-09T06:34:58Z- waiting for 1607495699.48, time is 1607495698.65 2020-12-09T06:34:58Z- sync is 0.17, coherence is 2.00 2020-12-09T06:34:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495698.67 epoch sec; seqNo:790; 4061665.40 north; 594443.05 east 2020-12-09T06:34:58Z- waiting for 1607495699.48, time is 1607495698.65 2020-12-09T06:34:58Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:58Z- AHRS_M2 msg: 1607495698.89 epoch sec; seqNo:761 2020-12-09T06:34:58Z- AHRS_M2 msg: 4.67 phi; -0.14 theta; -0.21 psi 2020-12-09T06:34:58Z- waiting for 1607495699.48, time is 1607495698.65 2020-12-09T06:34:58Z- sync is 0.24, coherence is 2.00 2020-12-09T06:34:58Z- handleDepth()-Depth_Keller msg: 41.43 epoch sec; seqNo:1607495698942; depth 0.00 2020-12-09T06:34:58Z- waiting for 1607495699.48, time is 1607495698.65 2020-12-09T06:34:58Z- sync is 0.24, coherence is 2.00 2020-12-09T06:34:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495698.97 epoch sec; seqNo:791; 4061665.38 north; 594441.83 east 2020-12-09T06:34:58Z- waiting for 1607495699.48, time is 1607495698.65 2020-12-09T06:34:58Z- sync is 0.31, coherence is 2.00 2020-12-09T06:34:59Z- AHRS_M2 msg: 1607495699.30 epoch sec; seqNo:762 2020-12-09T06:34:59Z- AHRS_M2 msg: 4.67 phi; -0.14 theta; -0.21 psi 2020-12-09T06:34:59Z- waiting for 1607495699.48, time is 1607495698.65 2020-12-09T06:34:59Z- sync is 0.64, coherence is 2.00 2020-12-09T06:34:59Z- handleDepth()-Depth_Keller msg: 41.46 epoch sec; seqNo:1607495699337; depth 0.00 2020-12-09T06:34:59Z- waiting for 1607495699.48, time is 1607495698.65 2020-12-09T06:34:59Z- sync is 0.64, coherence is 2.00 2020-12-09T06:34:59Z- handleDvl() - RDI_Pathfinder msg: 1607495699.35 epoch sec; seqNo:432 2020-12-09T06:34:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.36 , 50.83 , 39.40 , 49.60 2020-12-09T06:34:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.05 , 0.06 2020-12-09T06:34:59Z- waiting for 1607495699.48, time is 1607495699.35 2020-12-09T06:34:59Z- sync is 0.05, coherence is 2.00 2020-12-09T06:34:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495699.36 epoch sec; seqNo:792; 4061665.38 north; 594441.83 east 2020-12-09T06:34:59Z- waiting for 1607495699.48, time is 1607495699.35 2020-12-09T06:34:59Z- sync is 0.01, coherence is 2.00 2020-12-09T06:34:59Z- AHRS_M2 msg: 1607495699.71 epoch sec; seqNo:763 2020-12-09T06:34:59Z- AHRS_M2 msg: 4.68 phi; -0.14 theta; -0.21 psi 2020-12-09T06:34:59Z- waiting for 1607495699.48, time is 1607495699.35 2020-12-09T06:34:59Z- sync is 0.36, coherence is 2.00 2020-12-09T06:34:59Z- handleDepth()-Depth_Keller msg: 41.50 epoch sec; seqNo:1607495699750; depth 0.00 2020-12-09T06:34:59Z- waiting for 1607495699.48, time is 1607495699.35 2020-12-09T06:34:59Z- sync is 0.36, coherence is 2.00 2020-12-09T06:34:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495699.76 epoch sec; seqNo:793; 4061665.38 north; 594441.83 east 2020-12-09T06:34:59Z- waiting for 1607495699.48, time is 1607495699.35 2020-12-09T06:34:59Z- sync is 0.41, coherence is 2.00 2020-12-09T06:35:00Z- AHRS_M2 msg: 1607495700.11 epoch sec; seqNo:764 2020-12-09T06:35:00Z- AHRS_M2 msg: 4.68 phi; -0.14 theta; -0.21 psi 2020-12-09T06:35:00Z- waiting for 1607495699.48, time is 1607495699.35 2020-12-09T06:35:00Z- sync is 0.76, coherence is 2.00 2020-12-09T06:35:00Z- handleDepth()-Depth_Keller msg: 41.54 epoch sec; seqNo:1607495700122; depth 0.00 2020-12-09T06:35:00Z- waiting for 1607495699.48, time is 1607495699.35 2020-12-09T06:35:00Z- sync is 0.76, coherence is 2.00 2020-12-09T06:35:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495700.13 epoch sec; seqNo:794; 4061665.38 north; 594441.83 east 2020-12-09T06:35:00Z- waiting for 1607495699.48, time is 1607495699.35 2020-12-09T06:35:00Z- sync is 0.79, coherence is 2.00 2020-12-09T06:35:00Z- AHRS_M2 msg: 1607495700.52 epoch sec; seqNo:765 2020-12-09T06:35:00Z- AHRS_M2 msg: 4.69 phi; -0.14 theta; -0.20 psi 2020-12-09T06:35:00Z- waiting for 1607495699.48, time is 1607495699.35 2020-12-09T06:35:00Z- sync is 1.17, coherence is 2.00 2020-12-09T06:35:00Z- handleDepth()-Depth_Keller msg: 41.58 epoch sec; seqNo:1607495700522; depth 0.00 2020-12-09T06:35:00Z- waiting for 1607495699.48, time is 1607495699.35 2020-12-09T06:35:00Z- sync is 1.17, coherence is 2.00 2020-12-09T06:35:00Z- handleDvl() - RDI_Pathfinder msg: 1607495700.54 epoch sec; seqNo:433 2020-12-09T06:35:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.56 , 50.22 , 39.40 , 49.20 2020-12-09T06:35:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.01 , 0.02 2020-12-09T06:35:00Z- waiting for 1607495699.48, time is 1607495700.54 2020-12-09T06:35:00Z- sync is 0.03, coherence is 2.00 2020-12-09T06:35:00Z- LcmTrn::updateTrn() >>>> pose time 1607495700.52, meas time 1607495700.54 <<<< 2020-12-09T06:35:00Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495700.54 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:35:00Z- TerrainNav::motionUpdate() - currEstimate = (4061665, 594441.83, 41.58) 2020-12-09T06:35:00Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:35:00Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:35:00Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:35:00Z- TNavBF::mmse selected from filter -1 2020-12-09T06:35:00Z- variances([0], [2], and psi_berg) = 805.384175 833.115438 0.000000 2020-12-09T06:35:00Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:35:00Z- LcmTrn::cycle() - MLE : 4061634.88 594392.33 41.58 2020-12-09T06:35:00Z- LcmTrn::cycle() - MMSE : 4061665.38 594441.83 41.58 2020-12-09T06:35:00Z- LcmTrn::cycle() - COVAR: 805.38 833.12 39.76 0.00 2020-12-09T06:35:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495700.55 epoch sec; seqNo:795; 4061665.37 north; 594440.61 east 2020-12-09T06:35:00Z- waiting for 1607495703.54, time is 1607495700.54 2020-12-09T06:35:00Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:00Z- AHRS_M2 msg: 1607495700.92 epoch sec; seqNo:766 2020-12-09T06:35:00Z- AHRS_M2 msg: 4.69 phi; -0.14 theta; -0.20 psi 2020-12-09T06:35:00Z- waiting for 1607495703.54, time is 1607495700.54 2020-12-09T06:35:00Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:00Z- handleDepth()-Depth_Keller msg: 41.61 epoch sec; seqNo:1607495700923; depth 0.00 2020-12-09T06:35:00Z- waiting for 1607495703.54, time is 1607495700.54 2020-12-09T06:35:00Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495700.94 epoch sec; seqNo:796; 4061665.37 north; 594440.61 east 2020-12-09T06:35:00Z- waiting for 1607495703.54, time is 1607495700.54 2020-12-09T06:35:00Z- sync is 0.40, coherence is 2.00 2020-12-09T06:35:01Z- AHRS_M2 msg: 1607495701.32 epoch sec; seqNo:767 2020-12-09T06:35:01Z- AHRS_M2 msg: 4.70 phi; -0.14 theta; -0.20 psi 2020-12-09T06:35:01Z- waiting for 1607495703.54, time is 1607495700.54 2020-12-09T06:35:01Z- sync is 0.78, coherence is 2.00 2020-12-09T06:35:01Z- handleDepth()-Depth_Keller msg: 41.66 epoch sec; seqNo:1607495701322; depth 0.00 2020-12-09T06:35:01Z- waiting for 1607495703.54, time is 1607495700.54 2020-12-09T06:35:01Z- sync is 0.78, coherence is 2.00 2020-12-09T06:35:01Z- handleDvl() - RDI_Pathfinder msg: 1607495701.33 epoch sec; seqNo:434 2020-12-09T06:35:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.36 , 49.81 , 38.99 , 48.99 2020-12-09T06:35:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.01 , -0.03 2020-12-09T06:35:01Z- waiting for 1607495703.54, time is 1607495701.33 2020-12-09T06:35:01Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495701.35 epoch sec; seqNo:797; 4061665.37 north; 594440.61 east 2020-12-09T06:35:01Z- waiting for 1607495703.54, time is 1607495701.33 2020-12-09T06:35:01Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:01Z- AHRS_M2 msg: 1607495701.72 epoch sec; seqNo:768 2020-12-09T06:35:01Z- AHRS_M2 msg: 4.70 phi; -0.14 theta; -0.20 psi 2020-12-09T06:35:01Z- waiting for 1607495703.54, time is 1607495701.33 2020-12-09T06:35:01Z- sync is 0.39, coherence is 2.00 2020-12-09T06:35:01Z- handleDepth()-Depth_Keller msg: 41.70 epoch sec; seqNo:1607495701734; depth 0.00 2020-12-09T06:35:01Z- waiting for 1607495703.54, time is 1607495701.33 2020-12-09T06:35:01Z- sync is 0.39, coherence is 2.00 2020-12-09T06:35:01Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:01Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:01Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:01Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:35:01Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:35:01Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:35:01Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:35:01Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:35:01Z- handleDvl() - RDI_Pathfinder msg: 1607495701.74 epoch sec; seqNo:435 2020-12-09T06:35:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:35:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.01 , -0.03 2020-12-09T06:35:01Z- waiting for 1607495703.54, time is 1607495701.74 2020-12-09T06:35:01Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495701.75 epoch sec; seqNo:798; 4061665.36 north; 594439.39 east 2020-12-09T06:35:01Z- waiting for 1607495703.54, time is 1607495701.74 2020-12-09T06:35:01Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:02Z- AHRS_M2 msg: 1607495702.12 epoch sec; seqNo:769 2020-12-09T06:35:02Z- AHRS_M2 msg: 4.70 phi; -0.14 theta; -0.20 psi 2020-12-09T06:35:02Z- waiting for 1607495703.54, time is 1607495701.74 2020-12-09T06:35:02Z- sync is 0.39, coherence is 2.00 2020-12-09T06:35:02Z- handleDepth()-Depth_Keller msg: 41.75 epoch sec; seqNo:1607495702130; depth 0.00 2020-12-09T06:35:02Z- waiting for 1607495703.54, time is 1607495701.74 2020-12-09T06:35:02Z- sync is 0.39, coherence is 2.00 2020-12-09T06:35:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495702.15 epoch sec; seqNo:799; 4061665.36 north; 594439.39 east 2020-12-09T06:35:02Z- waiting for 1607495703.54, time is 1607495701.74 2020-12-09T06:35:02Z- sync is 0.42, coherence is 2.00 2020-12-09T06:35:02Z- AHRS_M2 msg: 1607495702.53 epoch sec; seqNo:770 2020-12-09T06:35:02Z- AHRS_M2 msg: 4.71 phi; -0.14 theta; -0.20 psi 2020-12-09T06:35:02Z- waiting for 1607495703.54, time is 1607495701.74 2020-12-09T06:35:02Z- sync is 0.79, coherence is 2.00 2020-12-09T06:35:02Z- handleDepth()-Depth_Keller msg: 41.78 epoch sec; seqNo:1607495702538; depth 0.00 2020-12-09T06:35:02Z- waiting for 1607495703.54, time is 1607495701.74 2020-12-09T06:35:02Z- sync is 0.79, coherence is 2.00 2020-12-09T06:35:02Z- handleDvl() - RDI_Pathfinder msg: 1607495702.55 epoch sec; seqNo:436 2020-12-09T06:35:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.36 , 49.20 , 38.58 , 48.79 2020-12-09T06:35:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.07 , -0.06 2020-12-09T06:35:02Z- waiting for 1607495703.54, time is 1607495702.55 2020-12-09T06:35:02Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495702.57 epoch sec; seqNo:800; 4061665.36 north; 594439.39 east 2020-12-09T06:35:02Z- waiting for 1607495703.54, time is 1607495702.55 2020-12-09T06:35:02Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:02Z- AHRS_M2 msg: 1607495702.93 epoch sec; seqNo:771 2020-12-09T06:35:02Z- AHRS_M2 msg: 4.71 phi; -0.14 theta; -0.20 psi 2020-12-09T06:35:02Z- waiting for 1607495703.54, time is 1607495702.55 2020-12-09T06:35:02Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:02Z- handleDepth()-Depth_Keller msg: 41.82 epoch sec; seqNo:1607495702945; depth 0.00 2020-12-09T06:35:02Z- waiting for 1607495703.54, time is 1607495702.55 2020-12-09T06:35:02Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495702.96 epoch sec; seqNo:801; 4061665.34 north; 594438.17 east 2020-12-09T06:35:02Z- waiting for 1607495703.54, time is 1607495702.55 2020-12-09T06:35:02Z- sync is 0.41, coherence is 2.00 2020-12-09T06:35:03Z- AHRS_M2 msg: 1607495703.34 epoch sec; seqNo:772 2020-12-09T06:35:03Z- AHRS_M2 msg: 4.71 phi; -0.14 theta; -0.20 psi 2020-12-09T06:35:03Z- waiting for 1607495703.54, time is 1607495702.55 2020-12-09T06:35:03Z- sync is 0.79, coherence is 2.00 2020-12-09T06:35:03Z- handleDepth()-Depth_Keller msg: 41.84 epoch sec; seqNo:1607495703342; depth 0.00 2020-12-09T06:35:03Z- waiting for 1607495703.54, time is 1607495702.55 2020-12-09T06:35:03Z- sync is 0.79, coherence is 2.00 2020-12-09T06:35:03Z- handleDvl() - RDI_Pathfinder msg: 1607495703.36 epoch sec; seqNo:437 2020-12-09T06:35:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.36 , 49.60 , 37.97 , 48.58 2020-12-09T06:35:03Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.10 , -0.07 2020-12-09T06:35:03Z- waiting for 1607495703.54, time is 1607495703.36 2020-12-09T06:35:03Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495703.37 epoch sec; seqNo:802; 4061665.34 north; 594438.17 east 2020-12-09T06:35:03Z- waiting for 1607495703.54, time is 1607495703.36 2020-12-09T06:35:03Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:03Z- AHRS_M2 msg: 1607495703.74 epoch sec; seqNo:773 2020-12-09T06:35:03Z- AHRS_M2 msg: 4.71 phi; -0.14 theta; -0.20 psi 2020-12-09T06:35:03Z- waiting for 1607495703.54, time is 1607495703.36 2020-12-09T06:35:03Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:03Z- handleDepth()-Depth_Keller msg: 41.88 epoch sec; seqNo:1607495703746; depth 0.00 2020-12-09T06:35:03Z- waiting for 1607495703.54, time is 1607495703.36 2020-12-09T06:35:03Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495703.76 epoch sec; seqNo:803; 4061665.34 north; 594438.17 east 2020-12-09T06:35:03Z- waiting for 1607495703.54, time is 1607495703.36 2020-12-09T06:35:03Z- sync is 0.40, coherence is 2.00 2020-12-09T06:35:04Z- AHRS_M2 msg: 1607495704.15 epoch sec; seqNo:774 2020-12-09T06:35:04Z- AHRS_M2 msg: 4.71 phi; -0.14 theta; -0.20 psi 2020-12-09T06:35:04Z- waiting for 1607495703.54, time is 1607495703.36 2020-12-09T06:35:04Z- sync is 0.79, coherence is 2.00 2020-12-09T06:35:04Z- handleDepth()-Depth_Keller msg: 41.93 epoch sec; seqNo:1607495704152; depth 0.00 2020-12-09T06:35:04Z- waiting for 1607495703.54, time is 1607495703.36 2020-12-09T06:35:04Z- sync is 0.79, coherence is 2.00 2020-12-09T06:35:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495704.16 epoch sec; seqNo:804; 4061665.33 north; 594436.95 east 2020-12-09T06:35:04Z- waiting for 1607495703.54, time is 1607495703.36 2020-12-09T06:35:04Z- sync is 0.80, coherence is 2.00 2020-12-09T06:35:04Z- AHRS_M2 msg: 1607495704.56 epoch sec; seqNo:775 2020-12-09T06:35:04Z- AHRS_M2 msg: 4.70 phi; -0.14 theta; -0.20 psi 2020-12-09T06:35:04Z- waiting for 1607495703.54, time is 1607495703.36 2020-12-09T06:35:04Z- sync is 1.20, coherence is 2.00 2020-12-09T06:35:04Z- handleDepth()-Depth_Keller msg: 41.96 epoch sec; seqNo:1607495704562; depth 0.00 2020-12-09T06:35:04Z- waiting for 1607495703.54, time is 1607495703.36 2020-12-09T06:35:04Z- sync is 1.20, coherence is 2.00 2020-12-09T06:35:04Z- handleDvl() - RDI_Pathfinder msg: 1607495704.58 epoch sec; seqNo:438 2020-12-09T06:35:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.95 , 48.99 , 37.97 , 48.58 2020-12-09T06:35:04Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.10 , -0.06 2020-12-09T06:35:04Z- waiting for 1607495703.54, time is 1607495704.58 2020-12-09T06:35:04Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:04Z- LcmTrn::updateTrn() >>>> pose time 1607495704.56, meas time 1607495704.58 <<<< 2020-12-09T06:35:04Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495704.58 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:35:04Z- TerrainNav::motionUpdate() - currEstimate = (4061665, 594436.95, 41.96) 2020-12-09T06:35:04Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:35:04Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:35:04Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:35:04Z- TNavBF::mmse selected from filter -1 2020-12-09T06:35:04Z- variances([0], [2], and psi_berg) = 805.101563 833.114729 0.000000 2020-12-09T06:35:04Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:35:04Z- LcmTrn::cycle() - MLE : 4061634.83 594387.45 41.96 2020-12-09T06:35:04Z- LcmTrn::cycle() - MMSE : 4061665.33 594436.95 41.96 2020-12-09T06:35:04Z- LcmTrn::cycle() - COVAR: 805.10 833.11 40.01 0.00 2020-12-09T06:35:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495704.59 epoch sec; seqNo:805; 4061665.71 north; 594436.94 east 2020-12-09T06:35:04Z- waiting for 1607495707.58, time is 1607495704.58 2020-12-09T06:35:04Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:04Z- AHRS_M2 msg: 1607495704.95 epoch sec; seqNo:776 2020-12-09T06:35:04Z- AHRS_M2 msg: 4.70 phi; -0.14 theta; -0.20 psi 2020-12-09T06:35:04Z- waiting for 1607495707.58, time is 1607495704.58 2020-12-09T06:35:04Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:04Z- handleDepth()-Depth_Keller msg: 42.01 epoch sec; seqNo:1607495704958; depth 0.00 2020-12-09T06:35:04Z- waiting for 1607495707.58, time is 1607495704.58 2020-12-09T06:35:04Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495704.98 epoch sec; seqNo:806; 4061665.71 north; 594436.94 east 2020-12-09T06:35:04Z- waiting for 1607495707.58, time is 1607495704.58 2020-12-09T06:35:04Z- sync is 0.40, coherence is 2.00 2020-12-09T06:35:05Z- AHRS_M2 msg: 1607495705.36 epoch sec; seqNo:777 2020-12-09T06:35:05Z- AHRS_M2 msg: 4.70 phi; -0.14 theta; -0.20 psi 2020-12-09T06:35:05Z- waiting for 1607495707.58, time is 1607495704.58 2020-12-09T06:35:05Z- sync is 0.78, coherence is 2.00 2020-12-09T06:35:05Z- handleDepth()-Depth_Keller msg: 42.04 epoch sec; seqNo:1607495705363; depth 0.00 2020-12-09T06:35:05Z- waiting for 1607495707.58, time is 1607495704.58 2020-12-09T06:35:05Z- sync is 0.78, coherence is 2.00 2020-12-09T06:35:05Z- handleDvl() - RDI_Pathfinder msg: 1607495705.38 epoch sec; seqNo:439 2020-12-09T06:35:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.74 , 49.20 , 37.97 , 48.17 2020-12-09T06:35:05Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , 0.09 , -0.04 2020-12-09T06:35:05Z- waiting for 1607495707.58, time is 1607495705.38 2020-12-09T06:35:05Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495705.40 epoch sec; seqNo:807; 4061665.70 north; 594435.72 east 2020-12-09T06:35:05Z- waiting for 1607495707.58, time is 1607495705.38 2020-12-09T06:35:05Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:05Z- AHRS_M2 msg: 1607495705.76 epoch sec; seqNo:778 2020-12-09T06:35:05Z- AHRS_M2 msg: 4.70 phi; -0.14 theta; -0.21 psi 2020-12-09T06:35:05Z- waiting for 1607495707.58, time is 1607495705.38 2020-12-09T06:35:05Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:05Z- handleDepth()-Depth_Keller msg: 42.08 epoch sec; seqNo:1607495705770; depth 0.00 2020-12-09T06:35:05Z- waiting for 1607495707.58, time is 1607495705.38 2020-12-09T06:35:05Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495705.78 epoch sec; seqNo:808; 4061665.70 north; 594435.72 east 2020-12-09T06:35:05Z- waiting for 1607495707.58, time is 1607495705.38 2020-12-09T06:35:05Z- sync is 0.41, coherence is 2.00 2020-12-09T06:35:06Z- AHRS_M2 msg: 1607495706.17 epoch sec; seqNo:779 2020-12-09T06:35:06Z- AHRS_M2 msg: 4.70 phi; -0.14 theta; -0.21 psi 2020-12-09T06:35:06Z- waiting for 1607495707.58, time is 1607495705.38 2020-12-09T06:35:06Z- sync is 0.80, coherence is 2.00 2020-12-09T06:35:06Z- handleDepth()-Depth_Keller msg: 42.14 epoch sec; seqNo:1607495706175; depth 0.00 2020-12-09T06:35:06Z- waiting for 1607495707.58, time is 1607495705.38 2020-12-09T06:35:06Z- sync is 0.80, coherence is 2.00 2020-12-09T06:35:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495706.21 epoch sec; seqNo:809; 4061665.70 north; 594435.72 east 2020-12-09T06:35:06Z- waiting for 1607495707.58, time is 1607495705.38 2020-12-09T06:35:06Z- sync is 0.83, coherence is 2.00 2020-12-09T06:35:06Z- AHRS_M2 msg: 1607495706.57 epoch sec; seqNo:780 2020-12-09T06:35:06Z- AHRS_M2 msg: 4.70 phi; -0.14 theta; -0.21 psi 2020-12-09T06:35:06Z- waiting for 1607495707.58, time is 1607495705.38 2020-12-09T06:35:06Z- sync is 1.19, coherence is 2.00 2020-12-09T06:35:06Z- handleDepth()-Depth_Keller msg: 42.17 epoch sec; seqNo:1607495706576; depth 0.00 2020-12-09T06:35:06Z- waiting for 1607495707.58, time is 1607495705.38 2020-12-09T06:35:06Z- sync is 1.19, coherence is 2.00 2020-12-09T06:35:06Z- handleDvl() - RDI_Pathfinder msg: 1607495706.60 epoch sec; seqNo:440 2020-12-09T06:35:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.33 , 49.60 , 37.97 , 47.56 2020-12-09T06:35:06Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , 0.07 , -0.03 2020-12-09T06:35:06Z- waiting for 1607495707.58, time is 1607495706.60 2020-12-09T06:35:06Z- sync is 0.03, coherence is 2.00 2020-12-09T06:35:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495706.61 epoch sec; seqNo:810; 4061665.68 north; 594434.50 east 2020-12-09T06:35:06Z- waiting for 1607495707.58, time is 1607495706.60 2020-12-09T06:35:06Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:06Z- AHRS_M2 msg: 1607495706.97 epoch sec; seqNo:781 2020-12-09T06:35:06Z- AHRS_M2 msg: 4.69 phi; -0.14 theta; -0.22 psi 2020-12-09T06:35:06Z- waiting for 1607495707.58, time is 1607495706.60 2020-12-09T06:35:06Z- sync is 0.37, coherence is 2.00 2020-12-09T06:35:06Z- handleDepth()-Depth_Keller msg: 42.24 epoch sec; seqNo:1607495706978; depth 0.00 2020-12-09T06:35:06Z- waiting for 1607495707.58, time is 1607495706.60 2020-12-09T06:35:06Z- sync is 0.37, coherence is 2.00 2020-12-09T06:35:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495706.99 epoch sec; seqNo:811; 4061665.68 north; 594434.50 east 2020-12-09T06:35:06Z- waiting for 1607495707.58, time is 1607495706.60 2020-12-09T06:35:06Z- sync is 0.39, coherence is 2.00 2020-12-09T06:35:07Z- AHRS_M2 msg: 1607495707.38 epoch sec; seqNo:782 2020-12-09T06:35:07Z- AHRS_M2 msg: 4.69 phi; -0.14 theta; -0.22 psi 2020-12-09T06:35:07Z- waiting for 1607495707.58, time is 1607495706.60 2020-12-09T06:35:07Z- sync is 0.78, coherence is 2.00 2020-12-09T06:35:07Z- handleDepth()-Depth_Keller msg: 42.26 epoch sec; seqNo:1607495707390; depth 0.00 2020-12-09T06:35:07Z- waiting for 1607495707.58, time is 1607495706.60 2020-12-09T06:35:07Z- sync is 0.78, coherence is 2.00 2020-12-09T06:35:07Z- handleDvl() - RDI_Pathfinder msg: 1607495707.40 epoch sec; seqNo:441 2020-12-09T06:35:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.13 , 50.01 , 38.17 , 47.36 2020-12-09T06:35:07Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , 0.04 , 0.00 2020-12-09T06:35:07Z- waiting for 1607495707.58, time is 1607495707.40 2020-12-09T06:35:07Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495707.41 epoch sec; seqNo:812; 4061665.68 north; 594434.50 east 2020-12-09T06:35:07Z- waiting for 1607495707.58, time is 1607495707.40 2020-12-09T06:35:07Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:07Z- AHRS_M2 msg: 1607495707.78 epoch sec; seqNo:783 2020-12-09T06:35:07Z- AHRS_M2 msg: 4.69 phi; -0.14 theta; -0.22 psi 2020-12-09T06:35:07Z- waiting for 1607495707.58, time is 1607495707.40 2020-12-09T06:35:07Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:07Z- handleDepth()-Depth_Keller msg: 42.32 epoch sec; seqNo:1607495707794; depth 0.00 2020-12-09T06:35:07Z- waiting for 1607495707.58, time is 1607495707.40 2020-12-09T06:35:07Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:07Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:07Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:07Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:07Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:35:07Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:35:07Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:35:07Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:35:07Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:35:07Z- handleDvl() - RDI_Pathfinder msg: 1607495707.80 epoch sec; seqNo:442 2020-12-09T06:35:07Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:35:07Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , 0.04 , 0.00 2020-12-09T06:35:07Z- waiting for 1607495707.58, time is 1607495707.80 2020-12-09T06:35:07Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:07Z- LcmTrn::updateTrn() >>>> pose time 1607495707.78, meas time 1607495707.80 <<<< 2020-12-09T06:35:07Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495707.80, ping # 0. 2020-12-09T06:35:07Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495707.80 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:35:07Z- TerrainNav::motionUpdate() - currEstimate = (4061666, 594434.50, 42.32) 2020-12-09T06:35:07Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:35:07Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:35:07Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:35:07Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:35:07Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:35:07Z- TNavBF::mmse selected from filter -1 2020-12-09T06:35:07Z- variances([0], [2], and psi_berg) = 804.901924 833.114232 0.000000 2020-12-09T06:35:07Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:35:07Z- LcmTrn::cycle() - MLE : 4061635.18 594386.00 42.32 2020-12-09T06:35:07Z- LcmTrn::cycle() - MMSE : 4061665.68 594434.50 42.32 2020-12-09T06:35:07Z- LcmTrn::cycle() - COVAR: 804.90 833.11 40.13 0.00 2020-12-09T06:35:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495707.81 epoch sec; seqNo:813; 4061665.67 north; 594433.28 east 2020-12-09T06:35:07Z- waiting for 1607495710.80, time is 1607495707.80 2020-12-09T06:35:07Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:08Z- AHRS_M2 msg: 1607495708.20 epoch sec; seqNo:784 2020-12-09T06:35:08Z- AHRS_M2 msg: 4.69 phi; -0.14 theta; -0.22 psi 2020-12-09T06:35:08Z- waiting for 1607495710.80, time is 1607495707.80 2020-12-09T06:35:08Z- sync is 0.40, coherence is 2.00 2020-12-09T06:35:08Z- handleDepth()-Depth_Keller msg: 42.38 epoch sec; seqNo:1607495708223; depth 0.00 2020-12-09T06:35:08Z- waiting for 1607495710.80, time is 1607495707.80 2020-12-09T06:35:08Z- sync is 0.40, coherence is 2.00 2020-12-09T06:35:08Z- handleDvl() - RDI_Pathfinder msg: 1607495708.23 epoch sec; seqNo:443 2020-12-09T06:35:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.13 , 50.01 , 38.17 , 46.75 2020-12-09T06:35:08Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , 0.01 , 0.03 2020-12-09T06:35:08Z- waiting for 1607495710.80, time is 1607495708.23 2020-12-09T06:35:08Z- sync is 0.03, coherence is 2.00 2020-12-09T06:35:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495708.25 epoch sec; seqNo:814; 4061665.67 north; 594433.28 east 2020-12-09T06:35:08Z- waiting for 1607495710.80, time is 1607495708.23 2020-12-09T06:35:08Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:08Z- AHRS_M2 msg: 1607495708.59 epoch sec; seqNo:785 2020-12-09T06:35:08Z- AHRS_M2 msg: 4.69 phi; -0.14 theta; -0.22 psi 2020-12-09T06:35:08Z- waiting for 1607495710.80, time is 1607495708.23 2020-12-09T06:35:08Z- sync is 0.36, coherence is 2.00 2020-12-09T06:35:08Z- handleDepth()-Depth_Keller msg: 42.44 epoch sec; seqNo:1607495708595; depth 0.00 2020-12-09T06:35:08Z- waiting for 1607495710.80, time is 1607495708.23 2020-12-09T06:35:08Z- sync is 0.36, coherence is 2.00 2020-12-09T06:35:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495708.61 epoch sec; seqNo:815; 4061665.67 north; 594433.28 east 2020-12-09T06:35:08Z- waiting for 1607495710.80, time is 1607495708.23 2020-12-09T06:35:08Z- sync is 0.37, coherence is 2.00 2020-12-09T06:35:08Z- AHRS_M2 msg: 1607495708.99 epoch sec; seqNo:786 2020-12-09T06:35:08Z- AHRS_M2 msg: 4.69 phi; -0.14 theta; -0.22 psi 2020-12-09T06:35:08Z- waiting for 1607495710.80, time is 1607495708.23 2020-12-09T06:35:08Z- sync is 0.76, coherence is 2.00 2020-12-09T06:35:08Z- handleDepth()-Depth_Keller msg: 42.50 epoch sec; seqNo:1607495709002; depth 0.00 2020-12-09T06:35:08Z- waiting for 1607495710.80, time is 1607495708.23 2020-12-09T06:35:08Z- sync is 0.76, coherence is 2.00 2020-12-09T06:35:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495709.01 epoch sec; seqNo:816; 4061665.66 north; 594432.06 east 2020-12-09T06:35:09Z- waiting for 1607495710.80, time is 1607495708.23 2020-12-09T06:35:09Z- sync is 0.78, coherence is 2.00 2020-12-09T06:35:09Z- AHRS_M2 msg: 1607495709.40 epoch sec; seqNo:787 2020-12-09T06:35:09Z- AHRS_M2 msg: 4.69 phi; -0.14 theta; -0.22 psi 2020-12-09T06:35:09Z- waiting for 1607495710.80, time is 1607495708.23 2020-12-09T06:35:09Z- sync is 1.16, coherence is 2.00 2020-12-09T06:35:09Z- handleDepth()-Depth_Keller msg: 42.57 epoch sec; seqNo:1607495709415; depth 0.00 2020-12-09T06:35:09Z- waiting for 1607495710.80, time is 1607495708.23 2020-12-09T06:35:09Z- sync is 1.16, coherence is 2.00 2020-12-09T06:35:09Z- handleDvl() - RDI_Pathfinder msg: 1607495709.43 epoch sec; seqNo:444 2020-12-09T06:35:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.93 , 49.81 , 37.97 , 46.54 2020-12-09T06:35:09Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , 0.01 , 0.05 2020-12-09T06:35:09Z- waiting for 1607495710.80, time is 1607495709.43 2020-12-09T06:35:09Z- sync is 0.03, coherence is 2.00 2020-12-09T06:35:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495709.44 epoch sec; seqNo:817; 4061665.66 north; 594432.06 east 2020-12-09T06:35:09Z- waiting for 1607495710.80, time is 1607495709.43 2020-12-09T06:35:09Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:09Z- AHRS_M2 msg: 1607495709.80 epoch sec; seqNo:788 2020-12-09T06:35:09Z- AHRS_M2 msg: 4.69 phi; -0.14 theta; -0.22 psi 2020-12-09T06:35:09Z- waiting for 1607495710.80, time is 1607495709.43 2020-12-09T06:35:09Z- sync is 0.37, coherence is 2.00 2020-12-09T06:35:09Z- handleDepth()-Depth_Keller msg: 42.63 epoch sec; seqNo:1607495709807; depth 0.00 2020-12-09T06:35:09Z- waiting for 1607495710.80, time is 1607495709.43 2020-12-09T06:35:09Z- sync is 0.37, coherence is 2.00 2020-12-09T06:35:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495709.84 epoch sec; seqNo:818; 4061665.64 north; 594430.84 east 2020-12-09T06:35:09Z- waiting for 1607495710.80, time is 1607495709.43 2020-12-09T06:35:09Z- sync is 0.40, coherence is 2.00 2020-12-09T06:35:10Z- AHRS_M2 msg: 1607495710.22 epoch sec; seqNo:789 2020-12-09T06:35:10Z- AHRS_M2 msg: 4.69 phi; -0.14 theta; -0.22 psi 2020-12-09T06:35:10Z- waiting for 1607495710.80, time is 1607495709.43 2020-12-09T06:35:10Z- sync is 0.79, coherence is 2.00 2020-12-09T06:35:10Z- handleDepth()-Depth_Keller msg: 42.70 epoch sec; seqNo:1607495710228; depth 0.00 2020-12-09T06:35:10Z- waiting for 1607495710.80, time is 1607495709.43 2020-12-09T06:35:10Z- sync is 0.79, coherence is 2.00 2020-12-09T06:35:10Z- handleDvl() - RDI_Pathfinder msg: 1607495710.26 epoch sec; seqNo:445 2020-12-09T06:35:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.93 , 49.60 , 38.58 , 45.32 2020-12-09T06:35:10Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.02 , 0.10 2020-12-09T06:35:10Z- waiting for 1607495710.80, time is 1607495710.26 2020-12-09T06:35:10Z- sync is 0.03, coherence is 2.00 2020-12-09T06:35:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495710.27 epoch sec; seqNo:819; 4061665.64 north; 594430.84 east 2020-12-09T06:35:10Z- waiting for 1607495710.80, time is 1607495710.26 2020-12-09T06:35:10Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:10Z- AHRS_M2 msg: 1607495710.61 epoch sec; seqNo:790 2020-12-09T06:35:10Z- AHRS_M2 msg: 4.68 phi; -0.14 theta; -0.22 psi 2020-12-09T06:35:10Z- waiting for 1607495710.80, time is 1607495710.26 2020-12-09T06:35:10Z- sync is 0.35, coherence is 2.00 2020-12-09T06:35:10Z- handleDepth()-Depth_Keller msg: 42.78 epoch sec; seqNo:1607495710622; depth 0.00 2020-12-09T06:35:10Z- waiting for 1607495710.80, time is 1607495710.26 2020-12-09T06:35:10Z- sync is 0.35, coherence is 2.00 2020-12-09T06:35:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495710.63 epoch sec; seqNo:820; 4061665.64 north; 594430.84 east 2020-12-09T06:35:10Z- waiting for 1607495710.80, time is 1607495710.26 2020-12-09T06:35:10Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:11Z- AHRS_M2 msg: 1607495711.01 epoch sec; seqNo:791 2020-12-09T06:35:11Z- AHRS_M2 msg: 4.68 phi; -0.14 theta; -0.22 psi 2020-12-09T06:35:11Z- waiting for 1607495710.80, time is 1607495710.26 2020-12-09T06:35:11Z- sync is 0.76, coherence is 2.00 2020-12-09T06:35:11Z- handleDepth()-Depth_Keller msg: 42.85 epoch sec; seqNo:1607495711026; depth 0.00 2020-12-09T06:35:11Z- waiting for 1607495710.80, time is 1607495710.26 2020-12-09T06:35:11Z- sync is 0.76, coherence is 2.00 2020-12-09T06:35:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495711.04 epoch sec; seqNo:821; 4061665.63 north; 594429.62 east 2020-12-09T06:35:11Z- waiting for 1607495710.80, time is 1607495710.26 2020-12-09T06:35:11Z- sync is 0.78, coherence is 2.00 2020-12-09T06:35:11Z- AHRS_M2 msg: 1607495711.42 epoch sec; seqNo:792 2020-12-09T06:35:11Z- AHRS_M2 msg: 4.68 phi; -0.13 theta; -0.22 psi 2020-12-09T06:35:11Z- waiting for 1607495710.80, time is 1607495710.26 2020-12-09T06:35:11Z- sync is 1.16, coherence is 2.00 2020-12-09T06:35:11Z- handleDepth()-Depth_Keller msg: 42.91 epoch sec; seqNo:1607495711422; depth 0.00 2020-12-09T06:35:11Z- waiting for 1607495710.80, time is 1607495710.26 2020-12-09T06:35:11Z- sync is 1.16, coherence is 2.00 2020-12-09T06:35:11Z- handleDvl() - RDI_Pathfinder msg: 1607495711.44 epoch sec; seqNo:446 2020-12-09T06:35:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.13 , 49.20 , 38.38 , 43.89 2020-12-09T06:35:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.03 , 0.13 2020-12-09T06:35:11Z- waiting for 1607495710.80, time is 1607495711.44 2020-12-09T06:35:11Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:11Z- LcmTrn::updateTrn() >>>> pose time 1607495711.42, meas time 1607495711.44 <<<< 2020-12-09T06:35:11Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495711.44 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:35:11Z- TerrainNav::motionUpdate() - currEstimate = (4061666, 594429.62, 42.91) 2020-12-09T06:35:11Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:35:11Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:35:11Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:35:11Z- TNavBF::mmse selected from filter -1 2020-12-09T06:35:11Z- variances([0], [2], and psi_berg) = 804.622609 833.113541 0.000000 2020-12-09T06:35:11Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:35:11Z- LcmTrn::cycle() - MLE : 4061635.13 594380.12 42.91 2020-12-09T06:35:11Z- LcmTrn::cycle() - MMSE : 4061665.63 594429.62 42.91 2020-12-09T06:35:11Z- LcmTrn::cycle() - COVAR: 804.62 833.11 40.38 0.00 2020-12-09T06:35:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495711.46 epoch sec; seqNo:822; 4061665.63 north; 594429.62 east 2020-12-09T06:35:11Z- waiting for 1607495714.44, time is 1607495711.44 2020-12-09T06:35:11Z- sync is 0.03, coherence is 2.00 2020-12-09T06:35:11Z- AHRS_M2 msg: 1607495711.82 epoch sec; seqNo:793 2020-12-09T06:35:11Z- AHRS_M2 msg: 4.68 phi; -0.13 theta; -0.22 psi 2020-12-09T06:35:11Z- waiting for 1607495714.44, time is 1607495711.44 2020-12-09T06:35:11Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:11Z- handleDepth()-Depth_Keller msg: 42.99 epoch sec; seqNo:1607495711973; depth 0.00 2020-12-09T06:35:11Z- waiting for 1607495714.44, time is 1607495711.44 2020-12-09T06:35:11Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495711.99 epoch sec; seqNo:823; 4061665.63 north; 594429.62 east 2020-12-09T06:35:11Z- waiting for 1607495714.44, time is 1607495711.44 2020-12-09T06:35:11Z- sync is 0.55, coherence is 2.00 2020-12-09T06:35:12Z- AHRS_M2 msg: 1607495712.23 epoch sec; seqNo:794 2020-12-09T06:35:12Z- AHRS_M2 msg: 4.68 phi; -0.13 theta; -0.22 psi 2020-12-09T06:35:12Z- waiting for 1607495714.44, time is 1607495711.44 2020-12-09T06:35:12Z- sync is 0.79, coherence is 2.00 2020-12-09T06:35:12Z- handleDepth()-Depth_Keller msg: 43.09 epoch sec; seqNo:1607495712251; depth 0.00 2020-12-09T06:35:12Z- waiting for 1607495714.44, time is 1607495711.44 2020-12-09T06:35:12Z- sync is 0.79, coherence is 2.00 2020-12-09T06:35:12Z- handleDvl() - RDI_Pathfinder msg: 1607495712.26 epoch sec; seqNo:447 2020-12-09T06:35:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.93 , 49.40 , 38.17 , 44.09 2020-12-09T06:35:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.02 , 0.14 2020-12-09T06:35:12Z- waiting for 1607495714.44, time is 1607495712.26 2020-12-09T06:35:12Z- sync is 0.03, coherence is 2.00 2020-12-09T06:35:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495712.30 epoch sec; seqNo:824; 4061665.62 north; 594428.40 east 2020-12-09T06:35:12Z- waiting for 1607495714.44, time is 1607495712.26 2020-12-09T06:35:12Z- sync is 0.03, coherence is 2.00 2020-12-09T06:35:12Z- AHRS_M2 msg: 1607495712.63 epoch sec; seqNo:795 2020-12-09T06:35:12Z- AHRS_M2 msg: 4.68 phi; -0.14 theta; -0.22 psi 2020-12-09T06:35:12Z- waiting for 1607495714.44, time is 1607495712.26 2020-12-09T06:35:12Z- sync is 0.37, coherence is 2.00 2020-12-09T06:35:12Z- handleDepth()-Depth_Keller msg: 43.14 epoch sec; seqNo:1607495712666; depth 0.00 2020-12-09T06:35:12Z- waiting for 1607495714.44, time is 1607495712.26 2020-12-09T06:35:12Z- sync is 0.37, coherence is 2.00 2020-12-09T06:35:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495712.69 epoch sec; seqNo:825; 4061665.62 north; 594428.40 east 2020-12-09T06:35:12Z- waiting for 1607495714.44, time is 1607495712.26 2020-12-09T06:35:12Z- sync is 0.42, coherence is 2.00 2020-12-09T06:35:13Z- AHRS_M2 msg: 1607495713.03 epoch sec; seqNo:796 2020-12-09T06:35:13Z- AHRS_M2 msg: 4.67 phi; -0.14 theta; -0.22 psi 2020-12-09T06:35:13Z- waiting for 1607495714.44, time is 1607495712.26 2020-12-09T06:35:13Z- sync is 0.77, coherence is 2.00 2020-12-09T06:35:13Z- handleDepth()-Depth_Keller msg: 43.22 epoch sec; seqNo:1607495713070; depth 0.00 2020-12-09T06:35:13Z- waiting for 1607495714.44, time is 1607495712.26 2020-12-09T06:35:13Z- sync is 0.77, coherence is 2.00 2020-12-09T06:35:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495713.08 epoch sec; seqNo:826; 4061665.62 north; 594428.40 east 2020-12-09T06:35:13Z- waiting for 1607495714.44, time is 1607495712.26 2020-12-09T06:35:13Z- sync is 0.82, coherence is 2.00 2020-12-09T06:35:13Z- AHRS_M2 msg: 1607495713.44 epoch sec; seqNo:797 2020-12-09T06:35:13Z- AHRS_M2 msg: 4.67 phi; -0.14 theta; -0.22 psi 2020-12-09T06:35:13Z- waiting for 1607495714.44, time is 1607495712.26 2020-12-09T06:35:13Z- sync is 1.17, coherence is 2.00 2020-12-09T06:35:13Z- handleDepth()-Depth_Keller msg: 43.29 epoch sec; seqNo:1607495713444; depth 0.00 2020-12-09T06:35:13Z- waiting for 1607495714.44, time is 1607495712.26 2020-12-09T06:35:13Z- sync is 1.17, coherence is 2.00 2020-12-09T06:35:13Z- handleDvl() - RDI_Pathfinder msg: 1607495713.45 epoch sec; seqNo:448 2020-12-09T06:35:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.93 , 49.20 , 38.17 , 44.09 2020-12-09T06:35:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , 0.01 , 0.13 2020-12-09T06:35:13Z- waiting for 1607495714.44, time is 1607495713.45 2020-12-09T06:35:13Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495713.49 epoch sec; seqNo:827; 4061665.62 north; 594428.40 east 2020-12-09T06:35:13Z- waiting for 1607495714.44, time is 1607495713.45 2020-12-09T06:35:13Z- sync is 0.03, coherence is 2.00 2020-12-09T06:35:13Z- AHRS_M2 msg: 1607495713.84 epoch sec; seqNo:798 2020-12-09T06:35:13Z- AHRS_M2 msg: 4.67 phi; -0.14 theta; -0.22 psi 2020-12-09T06:35:13Z- waiting for 1607495714.44, time is 1607495713.45 2020-12-09T06:35:13Z- sync is 0.39, coherence is 2.00 2020-12-09T06:35:13Z- handleDepth()-Depth_Keller msg: 43.33 epoch sec; seqNo:1607495713858; depth 0.00 2020-12-09T06:35:13Z- waiting for 1607495714.44, time is 1607495713.45 2020-12-09T06:35:13Z- sync is 0.39, coherence is 2.00 2020-12-09T06:35:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495713.87 epoch sec; seqNo:828; 4061665.60 north; 594427.18 east 2020-12-09T06:35:13Z- waiting for 1607495714.44, time is 1607495713.45 2020-12-09T06:35:13Z- sync is 0.41, coherence is 2.00 2020-12-09T06:35:14Z- AHRS_M2 msg: 1607495714.25 epoch sec; seqNo:799 2020-12-09T06:35:14Z- AHRS_M2 msg: 4.67 phi; -0.14 theta; -0.22 psi 2020-12-09T06:35:14Z- waiting for 1607495714.44, time is 1607495713.45 2020-12-09T06:35:14Z- sync is 0.79, coherence is 2.00 2020-12-09T06:35:14Z- handleDepth()-Depth_Keller msg: 43.40 epoch sec; seqNo:1607495714252; depth 0.00 2020-12-09T06:35:14Z- waiting for 1607495714.44, time is 1607495713.45 2020-12-09T06:35:14Z- sync is 0.79, coherence is 2.00 2020-12-09T06:35:14Z- handleDvl() - RDI_Pathfinder msg: 1607495714.27 epoch sec; seqNo:449 2020-12-09T06:35:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.93 , 49.20 , 37.97 , 44.09 2020-12-09T06:35:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , 0.00 , 0.08 2020-12-09T06:35:14Z- waiting for 1607495714.44, time is 1607495714.27 2020-12-09T06:35:14Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495714.30 epoch sec; seqNo:829; 4061665.60 north; 594427.18 east 2020-12-09T06:35:14Z- waiting for 1607495714.44, time is 1607495714.27 2020-12-09T06:35:14Z- sync is 0.03, coherence is 2.00 2020-12-09T06:35:14Z- AHRS_M2 msg: 1607495714.65 epoch sec; seqNo:800 2020-12-09T06:35:14Z- AHRS_M2 msg: 4.67 phi; -0.14 theta; -0.22 psi 2020-12-09T06:35:14Z- waiting for 1607495714.44, time is 1607495714.27 2020-12-09T06:35:14Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:14Z- handleDepth()-Depth_Keller msg: 43.48 epoch sec; seqNo:1607495714658; depth 0.00 2020-12-09T06:35:14Z- waiting for 1607495714.44, time is 1607495714.27 2020-12-09T06:35:14Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495714.67 epoch sec; seqNo:830; 4061665.60 north; 594427.18 east 2020-12-09T06:35:14Z- waiting for 1607495714.44, time is 1607495714.27 2020-12-09T06:35:14Z- sync is 0.40, coherence is 2.00 2020-12-09T06:35:15Z- AHRS_M2 msg: 1607495715.05 epoch sec; seqNo:801 2020-12-09T06:35:15Z- AHRS_M2 msg: 4.68 phi; -0.14 theta; -0.22 psi 2020-12-09T06:35:15Z- waiting for 1607495714.44, time is 1607495714.27 2020-12-09T06:35:15Z- sync is 0.78, coherence is 2.00 2020-12-09T06:35:15Z- handleDepth()-Depth_Keller msg: 43.52 epoch sec; seqNo:1607495715066; depth 0.00 2020-12-09T06:35:15Z- waiting for 1607495714.44, time is 1607495714.27 2020-12-09T06:35:15Z- sync is 0.78, coherence is 2.00 2020-12-09T06:35:15Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:15Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:15Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:15Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:35:15Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:35:15Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:35:15Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:35:15Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:35:15Z- handleDvl() - RDI_Pathfinder msg: 1607495715.07 epoch sec; seqNo:450 2020-12-09T06:35:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:35:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , 0.00 , 0.08 2020-12-09T06:35:15Z- waiting for 1607495714.44, time is 1607495715.07 2020-12-09T06:35:15Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:15Z- LcmTrn::updateTrn() >>>> pose time 1607495715.05, meas time 1607495715.07 <<<< 2020-12-09T06:35:15Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495715.07, ping # 0. 2020-12-09T06:35:15Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495715.07 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:35:15Z- TerrainNav::motionUpdate() - currEstimate = (4061666, 594427.18, 43.52) 2020-12-09T06:35:15Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:35:15Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:35:15Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:35:15Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:35:15Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:35:15Z- TNavBF::mmse selected from filter -1 2020-12-09T06:35:15Z- variances([0], [2], and psi_berg) = 804.426444 833.113060 0.000000 2020-12-09T06:35:15Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:35:15Z- LcmTrn::cycle() - MLE : 4061635.10 594377.68 43.52 2020-12-09T06:35:15Z- LcmTrn::cycle() - MMSE : 4061665.60 594427.18 43.52 2020-12-09T06:35:15Z- LcmTrn::cycle() - COVAR: 804.43 833.11 40.51 0.00 2020-12-09T06:35:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495715.08 epoch sec; seqNo:831; 4061665.60 north; 594427.18 east 2020-12-09T06:35:15Z- waiting for 1607495718.07, time is 1607495715.07 2020-12-09T06:35:15Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:15Z- AHRS_M2 msg: 1607495715.46 epoch sec; seqNo:802 2020-12-09T06:35:15Z- AHRS_M2 msg: 4.68 phi; -0.14 theta; -0.23 psi 2020-12-09T06:35:15Z- waiting for 1607495718.07, time is 1607495715.07 2020-12-09T06:35:15Z- sync is 0.39, coherence is 2.00 2020-12-09T06:35:15Z- handleDepth()-Depth_Keller msg: 43.55 epoch sec; seqNo:1607495715461; depth 0.00 2020-12-09T06:35:15Z- waiting for 1607495718.07, time is 1607495715.07 2020-12-09T06:35:15Z- sync is 0.39, coherence is 2.00 2020-12-09T06:35:15Z- handleDvl() - RDI_Pathfinder msg: 1607495715.49 epoch sec; seqNo:451 2020-12-09T06:35:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.93 , 50.01 , 37.97 , 44.50 2020-12-09T06:35:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.02 , 0.01 2020-12-09T06:35:15Z- waiting for 1607495718.07, time is 1607495715.49 2020-12-09T06:35:15Z- sync is 0.03, coherence is 2.00 2020-12-09T06:35:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495715.51 epoch sec; seqNo:832; 4061665.59 north; 594425.96 east 2020-12-09T06:35:15Z- waiting for 1607495718.07, time is 1607495715.49 2020-12-09T06:35:15Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:15Z- handleDepth()-Depth_Keller msg: 43.61 epoch sec; seqNo:1607495715882; depth 0.00 2020-12-09T06:35:15Z- waiting for 1607495718.07, time is 1607495715.49 2020-12-09T06:35:15Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495715.90 epoch sec; seqNo:833; 4061665.59 north; 594425.96 east 2020-12-09T06:35:15Z- waiting for 1607495718.07, time is 1607495715.49 2020-12-09T06:35:15Z- sync is 0.41, coherence is 2.00 2020-12-09T06:35:16Z- AHRS_M2 msg: 1607495716.27 epoch sec; seqNo:803 2020-12-09T06:35:16Z- AHRS_M2 msg: 4.68 phi; -0.14 theta; -0.23 psi 2020-12-09T06:35:16Z- waiting for 1607495718.07, time is 1607495715.49 2020-12-09T06:35:16Z- sync is 0.78, coherence is 2.00 2020-12-09T06:35:16Z- handleDepth()-Depth_Keller msg: 43.66 epoch sec; seqNo:1607495716278; depth 0.00 2020-12-09T06:35:16Z- waiting for 1607495718.07, time is 1607495715.49 2020-12-09T06:35:16Z- sync is 0.78, coherence is 2.00 2020-12-09T06:35:16Z- handleDvl() - RDI_Pathfinder msg: 1607495716.29 epoch sec; seqNo:452 2020-12-09T06:35:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.72 , 49.81 , 38.17 , 44.50 2020-12-09T06:35:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.04 , -0.07 2020-12-09T06:35:16Z- waiting for 1607495718.07, time is 1607495716.29 2020-12-09T06:35:16Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495716.33 epoch sec; seqNo:834; 4061665.59 north; 594425.96 east 2020-12-09T06:35:16Z- waiting for 1607495718.07, time is 1607495716.29 2020-12-09T06:35:16Z- sync is 0.03, coherence is 2.00 2020-12-09T06:35:16Z- AHRS_M2 msg: 1607495716.67 epoch sec; seqNo:804 2020-12-09T06:35:16Z- AHRS_M2 msg: 4.69 phi; -0.14 theta; -0.23 psi 2020-12-09T06:35:16Z- waiting for 1607495718.07, time is 1607495716.29 2020-12-09T06:35:16Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:16Z- handleDepth()-Depth_Keller msg: 43.70 epoch sec; seqNo:1607495716683; depth 0.00 2020-12-09T06:35:16Z- waiting for 1607495718.07, time is 1607495716.29 2020-12-09T06:35:16Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495716.70 epoch sec; seqNo:835; 4061665.59 north; 594425.96 east 2020-12-09T06:35:16Z- waiting for 1607495718.07, time is 1607495716.29 2020-12-09T06:35:16Z- sync is 0.41, coherence is 2.00 2020-12-09T06:35:17Z- AHRS_M2 msg: 1607495717.07 epoch sec; seqNo:805 2020-12-09T06:35:17Z- AHRS_M2 msg: 4.69 phi; -0.14 theta; -0.23 psi 2020-12-09T06:35:17Z- waiting for 1607495718.07, time is 1607495716.29 2020-12-09T06:35:17Z- sync is 0.78, coherence is 2.00 2020-12-09T06:35:17Z- handleDepth()-Depth_Keller msg: 43.72 epoch sec; seqNo:1607495717078; depth 0.00 2020-12-09T06:35:17Z- waiting for 1607495718.07, time is 1607495716.29 2020-12-09T06:35:17Z- sync is 0.78, coherence is 2.00 2020-12-09T06:35:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495717.09 epoch sec; seqNo:836; 4061665.58 north; 594424.74 east 2020-12-09T06:35:17Z- waiting for 1607495718.07, time is 1607495716.29 2020-12-09T06:35:17Z- sync is 0.80, coherence is 2.00 2020-12-09T06:35:17Z- AHRS_M2 msg: 1607495717.48 epoch sec; seqNo:806 2020-12-09T06:35:17Z- AHRS_M2 msg: 4.69 phi; -0.13 theta; -0.23 psi 2020-12-09T06:35:17Z- waiting for 1607495718.07, time is 1607495716.29 2020-12-09T06:35:17Z- sync is 1.19, coherence is 2.00 2020-12-09T06:35:17Z- handleDepth()-Depth_Keller msg: 43.75 epoch sec; seqNo:1607495717491; depth 0.00 2020-12-09T06:35:17Z- waiting for 1607495718.07, time is 1607495716.29 2020-12-09T06:35:17Z- sync is 1.19, coherence is 2.00 2020-12-09T06:35:17Z- handleDvl() - RDI_Pathfinder msg: 1607495717.51 epoch sec; seqNo:453 2020-12-09T06:35:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.72 , 49.60 , 37.76 , 44.50 2020-12-09T06:35:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.04 , -0.12 2020-12-09T06:35:17Z- waiting for 1607495718.07, time is 1607495717.51 2020-12-09T06:35:17Z- sync is 0.03, coherence is 2.00 2020-12-09T06:35:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495717.53 epoch sec; seqNo:837; 4061665.58 north; 594424.74 east 2020-12-09T06:35:17Z- waiting for 1607495718.07, time is 1607495717.51 2020-12-09T06:35:17Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:17Z- AHRS_M2 msg: 1607495717.89 epoch sec; seqNo:807 2020-12-09T06:35:17Z- AHRS_M2 msg: 4.70 phi; -0.13 theta; -0.23 psi 2020-12-09T06:35:17Z- waiting for 1607495718.07, time is 1607495717.51 2020-12-09T06:35:17Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:17Z- handleDepth()-Depth_Keller msg: 43.77 epoch sec; seqNo:1607495717895; depth 0.00 2020-12-09T06:35:17Z- waiting for 1607495718.07, time is 1607495717.51 2020-12-09T06:35:17Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495717.91 epoch sec; seqNo:838; 4061665.58 north; 594424.74 east 2020-12-09T06:35:17Z- waiting for 1607495718.07, time is 1607495717.51 2020-12-09T06:35:17Z- sync is 0.40, coherence is 2.00 2020-12-09T06:35:18Z- AHRS_M2 msg: 1607495718.29 epoch sec; seqNo:808 2020-12-09T06:35:18Z- AHRS_M2 msg: 4.70 phi; -0.13 theta; -0.23 psi 2020-12-09T06:35:18Z- waiting for 1607495718.07, time is 1607495717.51 2020-12-09T06:35:18Z- sync is 0.79, coherence is 2.00 2020-12-09T06:35:18Z- handleDepth()-Depth_Keller msg: 43.80 epoch sec; seqNo:1607495718298; depth 0.00 2020-12-09T06:35:18Z- waiting for 1607495718.07, time is 1607495717.51 2020-12-09T06:35:18Z- sync is 0.79, coherence is 2.00 2020-12-09T06:35:18Z- handleDvl() - RDI_Pathfinder msg: 1607495718.31 epoch sec; seqNo:454 2020-12-09T06:35:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.11 , 49.40 , 37.36 , 43.89 2020-12-09T06:35:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.04 , -0.15 2020-12-09T06:35:18Z- waiting for 1607495718.07, time is 1607495718.31 2020-12-09T06:35:18Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:18Z- LcmTrn::updateTrn() >>>> pose time 1607495718.29, meas time 1607495718.31 <<<< 2020-12-09T06:35:18Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495718.31 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:35:18Z- TerrainNav::motionUpdate() - currEstimate = (4061666, 594424.74, 43.80) 2020-12-09T06:35:18Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:35:18Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:35:18Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:35:18Z- TNavBF::mmse selected from filter -1 2020-12-09T06:35:18Z- variances([0], [2], and psi_berg) = 804.231203 833.112583 0.000000 2020-12-09T06:35:18Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:35:18Z- LcmTrn::cycle() - MLE : 4061635.08 594473.24 43.80 2020-12-09T06:35:18Z- LcmTrn::cycle() - MMSE : 4061665.58 594424.74 43.80 2020-12-09T06:35:18Z- LcmTrn::cycle() - COVAR: 804.23 833.11 40.63 0.00 2020-12-09T06:35:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495718.32 epoch sec; seqNo:839; 4061665.58 north; 594424.74 east 2020-12-09T06:35:18Z- waiting for 1607495721.31, time is 1607495718.31 2020-12-09T06:35:18Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:18Z- AHRS_M2 msg: 1607495718.69 epoch sec; seqNo:809 2020-12-09T06:35:18Z- AHRS_M2 msg: 4.70 phi; -0.13 theta; -0.23 psi 2020-12-09T06:35:18Z- waiting for 1607495721.31, time is 1607495718.31 2020-12-09T06:35:18Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:18Z- handleDepth()-Depth_Keller msg: 43.83 epoch sec; seqNo:1607495718694; depth 0.00 2020-12-09T06:35:18Z- waiting for 1607495721.31, time is 1607495718.31 2020-12-09T06:35:18Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495718.72 epoch sec; seqNo:840; 4061665.18 north; 594423.52 east 2020-12-09T06:35:18Z- waiting for 1607495721.31, time is 1607495718.31 2020-12-09T06:35:18Z- sync is 0.41, coherence is 2.00 2020-12-09T06:35:19Z- AHRS_M2 msg: 1607495719.09 epoch sec; seqNo:810 2020-12-09T06:35:19Z- AHRS_M2 msg: 4.70 phi; -0.13 theta; -0.22 psi 2020-12-09T06:35:19Z- waiting for 1607495721.31, time is 1607495718.31 2020-12-09T06:35:19Z- sync is 0.78, coherence is 2.00 2020-12-09T06:35:19Z- handleDepth()-Depth_Keller msg: 43.84 epoch sec; seqNo:1607495719106; depth 0.00 2020-12-09T06:35:19Z- waiting for 1607495721.31, time is 1607495718.31 2020-12-09T06:35:19Z- sync is 0.78, coherence is 2.00 2020-12-09T06:35:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495719.12 epoch sec; seqNo:841; 4061665.18 north; 594423.52 east 2020-12-09T06:35:19Z- waiting for 1607495721.31, time is 1607495718.31 2020-12-09T06:35:19Z- sync is 0.81, coherence is 2.00 2020-12-09T06:35:19Z- AHRS_M2 msg: 1607495719.50 epoch sec; seqNo:811 2020-12-09T06:35:19Z- AHRS_M2 msg: 4.70 phi; -0.13 theta; -0.22 psi 2020-12-09T06:35:19Z- waiting for 1607495721.31, time is 1607495718.31 2020-12-09T06:35:19Z- sync is 1.19, coherence is 2.00 2020-12-09T06:35:19Z- handleDepth()-Depth_Keller msg: 43.86 epoch sec; seqNo:1607495719510; depth 0.00 2020-12-09T06:35:19Z- waiting for 1607495721.31, time is 1607495718.31 2020-12-09T06:35:19Z- sync is 1.19, coherence is 2.00 2020-12-09T06:35:19Z- handleDvl() - RDI_Pathfinder msg: 1607495719.52 epoch sec; seqNo:455 2020-12-09T06:35:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.99 , 48.84 , 37.24 , 43.22 2020-12-09T06:35:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.03 , -0.14 2020-12-09T06:35:19Z- waiting for 1607495721.31, time is 1607495719.52 2020-12-09T06:35:19Z- sync is 0.03, coherence is 2.00 2020-12-09T06:35:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495719.54 epoch sec; seqNo:842; 4061665.18 north; 594423.52 east 2020-12-09T06:35:19Z- waiting for 1607495721.31, time is 1607495719.52 2020-12-09T06:35:19Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:19Z- AHRS_M2 msg: 1607495719.90 epoch sec; seqNo:812 2020-12-09T06:35:19Z- AHRS_M2 msg: 4.70 phi; -0.12 theta; -0.22 psi 2020-12-09T06:35:19Z- waiting for 1607495721.31, time is 1607495719.52 2020-12-09T06:35:19Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:19Z- handleDepth()-Depth_Keller msg: 43.88 epoch sec; seqNo:1607495719907; depth 0.00 2020-12-09T06:35:19Z- waiting for 1607495721.31, time is 1607495719.52 2020-12-09T06:35:19Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:19Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:19Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:19Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:19Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:35:19Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:35:19Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:35:19Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:35:19Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:35:19Z- handleDvl() - RDI_Pathfinder msg: 1607495719.91 epoch sec; seqNo:456 2020-12-09T06:35:19Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:35:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.03 , -0.14 2020-12-09T06:35:19Z- waiting for 1607495721.31, time is 1607495719.91 2020-12-09T06:35:19Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495719.92 epoch sec; seqNo:843; 4061665.17 north; 594422.30 east 2020-12-09T06:35:19Z- waiting for 1607495721.31, time is 1607495719.91 2020-12-09T06:35:19Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:20Z- AHRS_M2 msg: 1607495720.31 epoch sec; seqNo:813 2020-12-09T06:35:20Z- AHRS_M2 msg: 4.70 phi; -0.12 theta; -0.22 psi 2020-12-09T06:35:20Z- waiting for 1607495721.31, time is 1607495719.91 2020-12-09T06:35:20Z- sync is 0.40, coherence is 2.00 2020-12-09T06:35:20Z- handleDepth()-Depth_Keller msg: 43.90 epoch sec; seqNo:1607495720314; depth 0.00 2020-12-09T06:35:20Z- waiting for 1607495721.31, time is 1607495719.91 2020-12-09T06:35:20Z- sync is 0.40, coherence is 2.00 2020-12-09T06:35:20Z- handleDvl() - RDI_Pathfinder msg: 1607495720.33 epoch sec; seqNo:457 2020-12-09T06:35:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.62 , 47.90 , 36.49 , 42.85 2020-12-09T06:35:20Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.01 , -0.11 2020-12-09T06:35:20Z- waiting for 1607495721.31, time is 1607495720.33 2020-12-09T06:35:20Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495720.36 epoch sec; seqNo:844; 4061665.17 north; 594422.30 east 2020-12-09T06:35:20Z- waiting for 1607495721.31, time is 1607495720.33 2020-12-09T06:35:20Z- sync is 0.03, coherence is 2.00 2020-12-09T06:35:20Z- AHRS_M2 msg: 1607495720.71 epoch sec; seqNo:814 2020-12-09T06:35:20Z- AHRS_M2 msg: 4.70 phi; -0.12 theta; -0.22 psi 2020-12-09T06:35:20Z- waiting for 1607495721.31, time is 1607495720.33 2020-12-09T06:35:20Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:20Z- handleDepth()-Depth_Keller msg: 43.91 epoch sec; seqNo:1607495720716; depth 0.00 2020-12-09T06:35:20Z- waiting for 1607495721.31, time is 1607495720.33 2020-12-09T06:35:20Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495720.73 epoch sec; seqNo:845; 4061665.17 north; 594422.30 east 2020-12-09T06:35:20Z- waiting for 1607495721.31, time is 1607495720.33 2020-12-09T06:35:20Z- sync is 0.40, coherence is 2.00 2020-12-09T06:35:21Z- AHRS_M2 msg: 1607495721.12 epoch sec; seqNo:815 2020-12-09T06:35:21Z- AHRS_M2 msg: 4.70 phi; -0.12 theta; -0.22 psi 2020-12-09T06:35:21Z- waiting for 1607495721.31, time is 1607495720.33 2020-12-09T06:35:21Z- sync is 0.79, coherence is 2.00 2020-12-09T06:35:21Z- handleDepth()-Depth_Keller msg: 43.92 epoch sec; seqNo:1607495721125; depth 0.00 2020-12-09T06:35:21Z- waiting for 1607495721.31, time is 1607495720.33 2020-12-09T06:35:21Z- sync is 0.79, coherence is 2.00 2020-12-09T06:35:21Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:21Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:21Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:21Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:35:21Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:35:21Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:35:21Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:35:21Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:35:21Z- handleDvl() - RDI_Pathfinder msg: 1607495721.13 epoch sec; seqNo:458 2020-12-09T06:35:21Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:35:21Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.01 , -0.11 2020-12-09T06:35:21Z- waiting for 1607495721.31, time is 1607495721.13 2020-12-09T06:35:21Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495721.15 epoch sec; seqNo:846; 4061665.16 north; 594421.08 east 2020-12-09T06:35:21Z- waiting for 1607495721.31, time is 1607495721.13 2020-12-09T06:35:21Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:21Z- AHRS_M2 msg: 1607495721.52 epoch sec; seqNo:816 2020-12-09T06:35:21Z- AHRS_M2 msg: 4.70 phi; -0.12 theta; -0.22 psi 2020-12-09T06:35:21Z- waiting for 1607495721.31, time is 1607495721.13 2020-12-09T06:35:21Z- sync is 0.39, coherence is 2.00 2020-12-09T06:35:21Z- handleDepth()-Depth_Keller msg: 43.95 epoch sec; seqNo:1607495721530; depth 0.00 2020-12-09T06:35:21Z- waiting for 1607495721.31, time is 1607495721.13 2020-12-09T06:35:21Z- sync is 0.39, coherence is 2.00 2020-12-09T06:35:21Z- handleDvl() - RDI_Pathfinder msg: 1607495721.54 epoch sec; seqNo:459 2020-12-09T06:35:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.43 , 47.53 , 36.30 , 42.48 2020-12-09T06:35:21Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , 0.02 , -0.06 2020-12-09T06:35:21Z- waiting for 1607495721.31, time is 1607495721.54 2020-12-09T06:35:21Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:21Z- LcmTrn::updateTrn() >>>> pose time 1607495721.52, meas time 1607495721.54 <<<< 2020-12-09T06:35:21Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495721.54 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:35:21Z- TerrainNav::motionUpdate() - currEstimate = (4061665, 594421.08, 43.95) 2020-12-09T06:35:21Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:35:21Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:35:21Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:35:21Z- TNavBF::mmse selected from filter -1 2020-12-09T06:35:21Z- variances([0], [2], and psi_berg) = 803.992558 833.112004 0.000000 2020-12-09T06:35:21Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:35:21Z- LcmTrn::cycle() - MLE : 4061634.66 594469.58 43.95 2020-12-09T06:35:21Z- LcmTrn::cycle() - MMSE : 4061665.16 594421.08 43.95 2020-12-09T06:35:21Z- LcmTrn::cycle() - COVAR: 803.99 833.11 40.82 0.00 2020-12-09T06:35:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495721.57 epoch sec; seqNo:847; 4061665.16 north; 594421.08 east 2020-12-09T06:35:21Z- waiting for 1607495724.54, time is 1607495721.54 2020-12-09T06:35:21Z- sync is 0.03, coherence is 2.00 2020-12-09T06:35:21Z- AHRS_M2 msg: 1607495721.92 epoch sec; seqNo:817 2020-12-09T06:35:21Z- AHRS_M2 msg: 4.70 phi; -0.12 theta; -0.21 psi 2020-12-09T06:35:21Z- waiting for 1607495724.54, time is 1607495721.54 2020-12-09T06:35:21Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:21Z- handleDepth()-Depth_Keller msg: 43.98 epoch sec; seqNo:1607495721928; depth 0.00 2020-12-09T06:35:21Z- waiting for 1607495724.54, time is 1607495721.54 2020-12-09T06:35:21Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495721.94 epoch sec; seqNo:848; 4061665.16 north; 594421.08 east 2020-12-09T06:35:21Z- waiting for 1607495724.54, time is 1607495721.54 2020-12-09T06:35:21Z- sync is 0.40, coherence is 2.00 2020-12-09T06:35:22Z- AHRS_M2 msg: 1607495722.33 epoch sec; seqNo:818 2020-12-09T06:35:22Z- AHRS_M2 msg: 4.69 phi; -0.12 theta; -0.21 psi 2020-12-09T06:35:22Z- waiting for 1607495724.54, time is 1607495721.54 2020-12-09T06:35:22Z- sync is 0.78, coherence is 2.00 2020-12-09T06:35:22Z- handleDepth()-Depth_Keller msg: 44.01 epoch sec; seqNo:1607495722331; depth 0.00 2020-12-09T06:35:22Z- waiting for 1607495724.54, time is 1607495721.54 2020-12-09T06:35:22Z- sync is 0.78, coherence is 2.00 2020-12-09T06:35:22Z- handleDvl() - RDI_Pathfinder msg: 1607495722.35 epoch sec; seqNo:460 2020-12-09T06:35:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.06 , 47.15 , 35.93 , 42.29 2020-12-09T06:35:22Z- handleDvl() - RDI_Pathfinder msg: velocities 1.15 , 0.05 , -0.02 2020-12-09T06:35:22Z- waiting for 1607495724.54, time is 1607495722.35 2020-12-09T06:35:22Z- sync is 0.03, coherence is 2.00 2020-12-09T06:35:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495722.37 epoch sec; seqNo:849; 4061665.14 north; 594419.86 east 2020-12-09T06:35:22Z- waiting for 1607495724.54, time is 1607495722.35 2020-12-09T06:35:22Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:22Z- AHRS_M2 msg: 1607495722.73 epoch sec; seqNo:819 2020-12-09T06:35:22Z- AHRS_M2 msg: 4.69 phi; -0.12 theta; -0.21 psi 2020-12-09T06:35:22Z- waiting for 1607495724.54, time is 1607495722.35 2020-12-09T06:35:22Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:22Z- handleDepth()-Depth_Keller msg: 44.04 epoch sec; seqNo:1607495722741; depth 0.00 2020-12-09T06:35:22Z- waiting for 1607495724.54, time is 1607495722.35 2020-12-09T06:35:22Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495722.77 epoch sec; seqNo:850; 4061665.14 north; 594419.86 east 2020-12-09T06:35:22Z- waiting for 1607495724.54, time is 1607495722.35 2020-12-09T06:35:22Z- sync is 0.42, coherence is 2.00 2020-12-09T06:35:23Z- AHRS_M2 msg: 1607495723.13 epoch sec; seqNo:820 2020-12-09T06:35:23Z- AHRS_M2 msg: 4.69 phi; -0.12 theta; -0.21 psi 2020-12-09T06:35:23Z- waiting for 1607495724.54, time is 1607495722.35 2020-12-09T06:35:23Z- sync is 0.78, coherence is 2.00 2020-12-09T06:35:23Z- handleDepth()-Depth_Keller msg: 44.07 epoch sec; seqNo:1607495723146; depth 0.00 2020-12-09T06:35:23Z- waiting for 1607495724.54, time is 1607495722.35 2020-12-09T06:35:23Z- sync is 0.78, coherence is 2.00 2020-12-09T06:35:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495723.16 epoch sec; seqNo:851; 4061665.13 north; 594418.64 east 2020-12-09T06:35:23Z- waiting for 1607495724.54, time is 1607495722.35 2020-12-09T06:35:23Z- sync is 0.81, coherence is 2.00 2020-12-09T06:35:23Z- AHRS_M2 msg: 1607495723.54 epoch sec; seqNo:821 2020-12-09T06:35:23Z- AHRS_M2 msg: 4.69 phi; -0.12 theta; -0.21 psi 2020-12-09T06:35:23Z- waiting for 1607495724.54, time is 1607495722.35 2020-12-09T06:35:23Z- sync is 1.19, coherence is 2.00 2020-12-09T06:35:23Z- handleDepth()-Depth_Keller msg: 44.12 epoch sec; seqNo:1607495723549; depth 0.00 2020-12-09T06:35:23Z- waiting for 1607495724.54, time is 1607495722.35 2020-12-09T06:35:23Z- sync is 1.19, coherence is 2.00 2020-12-09T06:35:23Z- handleDvl() - RDI_Pathfinder msg: 1607495723.56 epoch sec; seqNo:461 2020-12-09T06:35:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.24 , 46.78 , 35.93 , 42.29 2020-12-09T06:35:23Z- handleDvl() - RDI_Pathfinder msg: velocities 1.14 , 0.09 , 0.03 2020-12-09T06:35:23Z- waiting for 1607495724.54, time is 1607495723.56 2020-12-09T06:35:23Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495723.57 epoch sec; seqNo:852; 4061665.13 north; 594418.64 east 2020-12-09T06:35:23Z- waiting for 1607495724.54, time is 1607495723.56 2020-12-09T06:35:23Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:23Z- AHRS_M2 msg: 1607495723.94 epoch sec; seqNo:822 2020-12-09T06:35:23Z- AHRS_M2 msg: 4.69 phi; -0.12 theta; -0.21 psi 2020-12-09T06:35:23Z- waiting for 1607495724.54, time is 1607495723.56 2020-12-09T06:35:23Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:23Z- handleDepth()-Depth_Keller msg: 44.17 epoch sec; seqNo:1607495723950; depth 0.00 2020-12-09T06:35:23Z- waiting for 1607495724.54, time is 1607495723.56 2020-12-09T06:35:23Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495723.97 epoch sec; seqNo:853; 4061665.13 north; 594418.64 east 2020-12-09T06:35:23Z- waiting for 1607495724.54, time is 1607495723.56 2020-12-09T06:35:23Z- sync is 0.41, coherence is 2.00 2020-12-09T06:35:24Z- AHRS_M2 msg: 1607495724.35 epoch sec; seqNo:823 2020-12-09T06:35:24Z- AHRS_M2 msg: 4.69 phi; -0.12 theta; -0.21 psi 2020-12-09T06:35:24Z- waiting for 1607495724.54, time is 1607495723.56 2020-12-09T06:35:24Z- sync is 0.78, coherence is 2.00 2020-12-09T06:35:24Z- handleDepth()-Depth_Keller msg: 44.22 epoch sec; seqNo:1607495724351; depth 0.00 2020-12-09T06:35:24Z- waiting for 1607495724.54, time is 1607495723.56 2020-12-09T06:35:24Z- sync is 0.78, coherence is 2.00 2020-12-09T06:35:24Z- handleDvl() - RDI_Pathfinder msg: 1607495724.36 epoch sec; seqNo:462 2020-12-09T06:35:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.24 , 46.59 , 35.55 , 41.92 2020-12-09T06:35:24Z- handleDvl() - RDI_Pathfinder msg: velocities 1.13 , 0.12 , 0.06 2020-12-09T06:35:24Z- waiting for 1607495724.54, time is 1607495724.36 2020-12-09T06:35:24Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495724.39 epoch sec; seqNo:854; 4061665.12 north; 594417.42 east 2020-12-09T06:35:24Z- waiting for 1607495724.54, time is 1607495724.36 2020-12-09T06:35:24Z- sync is 0.03, coherence is 2.00 2020-12-09T06:35:24Z- AHRS_M2 msg: 1607495724.76 epoch sec; seqNo:824 2020-12-09T06:35:24Z- AHRS_M2 msg: 4.69 phi; -0.12 theta; -0.21 psi 2020-12-09T06:35:24Z- waiting for 1607495724.54, time is 1607495724.36 2020-12-09T06:35:24Z- sync is 0.39, coherence is 2.00 2020-12-09T06:35:24Z- handleDepth()-Depth_Keller msg: 44.29 epoch sec; seqNo:1607495724761; depth 0.00 2020-12-09T06:35:24Z- waiting for 1607495724.54, time is 1607495724.36 2020-12-09T06:35:24Z- sync is 0.39, coherence is 2.00 2020-12-09T06:35:24Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:24Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:24Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:24Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:35:24Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:35:24Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:35:24Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:35:24Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:35:24Z- handleDvl() - RDI_Pathfinder msg: 1607495724.76 epoch sec; seqNo:463 2020-12-09T06:35:24Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:35:24Z- handleDvl() - RDI_Pathfinder msg: velocities 1.13 , 0.12 , 0.06 2020-12-09T06:35:24Z- waiting for 1607495724.54, time is 1607495724.76 2020-12-09T06:35:24Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:24Z- LcmTrn::updateTrn() >>>> pose time 1607495724.76, meas time 1607495724.76 <<<< 2020-12-09T06:35:24Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495724.76, ping # 0. 2020-12-09T06:35:24Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495724.76 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:35:24Z- TerrainNav::motionUpdate() - currEstimate = (4061665, 594417.42, 44.29) 2020-12-09T06:35:24Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:35:24Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:35:24Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:35:24Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:35:24Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:35:24Z- TNavBF::mmse selected from filter -1 2020-12-09T06:35:24Z- variances([0], [2], and psi_berg) = 803.755903 833.111434 0.000000 2020-12-09T06:35:24Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:35:24Z- LcmTrn::cycle() - MLE : 4061634.62 594465.92 44.29 2020-12-09T06:35:24Z- LcmTrn::cycle() - MMSE : 4061665.12 594417.42 44.29 2020-12-09T06:35:24Z- LcmTrn::cycle() - COVAR: 803.76 833.11 41.01 0.00 2020-12-09T06:35:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495724.78 epoch sec; seqNo:855; 4061665.12 north; 594417.42 east 2020-12-09T06:35:24Z- waiting for 1607495727.76, time is 1607495724.76 2020-12-09T06:35:24Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:25Z- AHRS_M2 msg: 1607495725.16 epoch sec; seqNo:825 2020-12-09T06:35:25Z- AHRS_M2 msg: 4.69 phi; -0.12 theta; -0.21 psi 2020-12-09T06:35:25Z- waiting for 1607495727.76, time is 1607495724.76 2020-12-09T06:35:25Z- sync is 0.39, coherence is 2.00 2020-12-09T06:35:25Z- handleDepth()-Depth_Keller msg: 44.35 epoch sec; seqNo:1607495725332; depth 0.00 2020-12-09T06:35:25Z- waiting for 1607495727.76, time is 1607495724.76 2020-12-09T06:35:25Z- sync is 0.39, coherence is 2.00 2020-12-09T06:35:25Z- handleDvl() - RDI_Pathfinder msg: 1607495725.35 epoch sec; seqNo:464 2020-12-09T06:35:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.24 , 46.59 , 35.55 , 42.29 2020-12-09T06:35:25Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , 0.14 , 0.08 2020-12-09T06:35:25Z- waiting for 1607495727.76, time is 1607495725.35 2020-12-09T06:35:25Z- sync is 0.19, coherence is 2.00 2020-12-09T06:35:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495725.36 epoch sec; seqNo:856; 4061665.48 north; 594416.20 east 2020-12-09T06:35:25Z- waiting for 1607495727.76, time is 1607495725.35 2020-12-09T06:35:25Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:25Z- AHRS_M2 msg: 1607495725.60 epoch sec; seqNo:826 2020-12-09T06:35:25Z- AHRS_M2 msg: 4.68 phi; -0.12 theta; -0.21 psi 2020-12-09T06:35:25Z- waiting for 1607495727.76, time is 1607495725.35 2020-12-09T06:35:25Z- sync is 0.26, coherence is 2.00 2020-12-09T06:35:25Z- handleDepth()-Depth_Keller msg: 44.43 epoch sec; seqNo:1607495725654; depth 0.00 2020-12-09T06:35:25Z- waiting for 1607495727.76, time is 1607495725.35 2020-12-09T06:35:25Z- sync is 0.26, coherence is 2.00 2020-12-09T06:35:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495725.69 epoch sec; seqNo:857; 4061665.48 north; 594416.20 east 2020-12-09T06:35:25Z- waiting for 1607495727.76, time is 1607495725.35 2020-12-09T06:35:25Z- sync is 0.35, coherence is 2.00 2020-12-09T06:35:25Z- AHRS_M2 msg: 1607495726.01 epoch sec; seqNo:827 2020-12-09T06:35:25Z- AHRS_M2 msg: 4.68 phi; -0.12 theta; -0.21 psi 2020-12-09T06:35:25Z- waiting for 1607495727.76, time is 1607495725.35 2020-12-09T06:35:25Z- sync is 0.66, coherence is 2.00 2020-12-09T06:35:26Z- handleDepth()-Depth_Keller msg: 44.49 epoch sec; seqNo:1607495726051; depth 0.00 2020-12-09T06:35:26Z- waiting for 1607495727.76, time is 1607495725.35 2020-12-09T06:35:26Z- sync is 0.66, coherence is 2.00 2020-12-09T06:35:26Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:26Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:26Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:26Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:35:26Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:35:26Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:35:26Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:35:26Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:35:26Z- handleDvl() - RDI_Pathfinder msg: 1607495726.05 epoch sec; seqNo:465 2020-12-09T06:35:26Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:35:26Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , 0.14 , 0.08 2020-12-09T06:35:26Z- waiting for 1607495727.76, time is 1607495726.05 2020-12-09T06:35:26Z- sync is 0.04, coherence is 2.00 2020-12-09T06:35:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495726.07 epoch sec; seqNo:858; 4061665.48 north; 594416.20 east 2020-12-09T06:35:26Z- waiting for 1607495727.76, time is 1607495726.05 2020-12-09T06:35:26Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:26Z- AHRS_M2 msg: 1607495726.41 epoch sec; seqNo:828 2020-12-09T06:35:26Z- AHRS_M2 msg: 4.68 phi; -0.13 theta; -0.21 psi 2020-12-09T06:35:26Z- waiting for 1607495727.76, time is 1607495726.05 2020-12-09T06:35:26Z- sync is 0.36, coherence is 2.00 2020-12-09T06:35:26Z- handleDepth()-Depth_Keller msg: 44.56 epoch sec; seqNo:1607495726446; depth 0.00 2020-12-09T06:35:26Z- waiting for 1607495727.76, time is 1607495726.05 2020-12-09T06:35:26Z- sync is 0.36, coherence is 2.00 2020-12-09T06:35:26Z- handleDvl() - RDI_Pathfinder msg: 1607495726.46 epoch sec; seqNo:466 2020-12-09T06:35:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.06 , 46.59 , 35.55 , 42.66 2020-12-09T06:35:26Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.13 , 0.09 2020-12-09T06:35:26Z- waiting for 1607495727.76, time is 1607495726.46 2020-12-09T06:35:26Z- sync is 0.05, coherence is 2.00 2020-12-09T06:35:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495726.48 epoch sec; seqNo:859; 4061665.47 north; 594414.98 east 2020-12-09T06:35:26Z- waiting for 1607495727.76, time is 1607495726.46 2020-12-09T06:35:26Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:26Z- AHRS_M2 msg: 1607495726.81 epoch sec; seqNo:829 2020-12-09T06:35:26Z- AHRS_M2 msg: 4.68 phi; -0.13 theta; -0.21 psi 2020-12-09T06:35:26Z- waiting for 1607495727.76, time is 1607495726.46 2020-12-09T06:35:26Z- sync is 0.36, coherence is 2.00 2020-12-09T06:35:26Z- handleDepth()-Depth_Keller msg: 44.64 epoch sec; seqNo:1607495726818; depth 0.00 2020-12-09T06:35:26Z- waiting for 1607495727.76, time is 1607495726.46 2020-12-09T06:35:26Z- sync is 0.36, coherence is 2.00 2020-12-09T06:35:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495726.84 epoch sec; seqNo:860; 4061665.47 north; 594414.98 east 2020-12-09T06:35:26Z- waiting for 1607495727.76, time is 1607495726.46 2020-12-09T06:35:26Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:27Z- AHRS_M2 msg: 1607495727.22 epoch sec; seqNo:830 2020-12-09T06:35:27Z- AHRS_M2 msg: 4.67 phi; -0.13 theta; -0.22 psi 2020-12-09T06:35:27Z- waiting for 1607495727.76, time is 1607495726.46 2020-12-09T06:35:27Z- sync is 0.76, coherence is 2.00 2020-12-09T06:35:27Z- handleDepth()-Depth_Keller msg: 44.70 epoch sec; seqNo:1607495727228; depth 0.00 2020-12-09T06:35:27Z- waiting for 1607495727.76, time is 1607495726.46 2020-12-09T06:35:27Z- sync is 0.76, coherence is 2.00 2020-12-09T06:35:27Z- handleDvl() - RDI_Pathfinder msg: 1607495727.24 epoch sec; seqNo:467 2020-12-09T06:35:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.87 , 47.53 , 35.74 , 43.04 2020-12-09T06:35:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.11 , 0.09 2020-12-09T06:35:27Z- waiting for 1607495727.76, time is 1607495727.24 2020-12-09T06:35:27Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495727.26 epoch sec; seqNo:861; 4061665.47 north; 594414.98 east 2020-12-09T06:35:27Z- waiting for 1607495727.76, time is 1607495727.24 2020-12-09T06:35:27Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:27Z- AHRS_M2 msg: 1607495727.62 epoch sec; seqNo:831 2020-12-09T06:35:27Z- AHRS_M2 msg: 4.67 phi; -0.13 theta; -0.22 psi 2020-12-09T06:35:27Z- waiting for 1607495727.76, time is 1607495727.24 2020-12-09T06:35:27Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:27Z- handleDepth()-Depth_Keller msg: 44.79 epoch sec; seqNo:1607495727628; depth 0.00 2020-12-09T06:35:27Z- waiting for 1607495727.76, time is 1607495727.24 2020-12-09T06:35:27Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495727.64 epoch sec; seqNo:862; 4061665.45 north; 594413.76 east 2020-12-09T06:35:27Z- waiting for 1607495727.76, time is 1607495727.24 2020-12-09T06:35:27Z- sync is 0.40, coherence is 2.00 2020-12-09T06:35:28Z- AHRS_M2 msg: 1607495728.03 epoch sec; seqNo:832 2020-12-09T06:35:28Z- AHRS_M2 msg: 4.67 phi; -0.13 theta; -0.22 psi 2020-12-09T06:35:28Z- waiting for 1607495727.76, time is 1607495727.24 2020-12-09T06:35:28Z- sync is 0.78, coherence is 2.00 2020-12-09T06:35:28Z- handleDepth()-Depth_Keller msg: 44.85 epoch sec; seqNo:1607495728030; depth 0.00 2020-12-09T06:35:28Z- waiting for 1607495727.76, time is 1607495727.24 2020-12-09T06:35:28Z- sync is 0.78, coherence is 2.00 2020-12-09T06:35:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495728.05 epoch sec; seqNo:863; 4061665.45 north; 594413.76 east 2020-12-09T06:35:28Z- waiting for 1607495727.76, time is 1607495727.24 2020-12-09T06:35:28Z- sync is 0.81, coherence is 2.00 2020-12-09T06:35:28Z- AHRS_M2 msg: 1607495728.43 epoch sec; seqNo:833 2020-12-09T06:35:28Z- AHRS_M2 msg: 4.67 phi; -0.14 theta; -0.23 psi 2020-12-09T06:35:28Z- waiting for 1607495727.76, time is 1607495727.24 2020-12-09T06:35:28Z- sync is 1.19, coherence is 2.00 2020-12-09T06:35:28Z- handleDepth()-Depth_Keller msg: 44.93 epoch sec; seqNo:1607495728438; depth 0.00 2020-12-09T06:35:28Z- waiting for 1607495727.76, time is 1607495727.24 2020-12-09T06:35:28Z- sync is 1.19, coherence is 2.00 2020-12-09T06:35:28Z- handleDvl() - RDI_Pathfinder msg: 1607495728.45 epoch sec; seqNo:468 2020-12-09T06:35:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.87 , 47.90 , 35.55 , 43.22 2020-12-09T06:35:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.07 , 0.10 2020-12-09T06:35:28Z- waiting for 1607495727.76, time is 1607495728.45 2020-12-09T06:35:28Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:28Z- LcmTrn::updateTrn() >>>> pose time 1607495728.43, meas time 1607495728.45 <<<< 2020-12-09T06:35:28Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495728.45 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:35:28Z- TerrainNav::motionUpdate() - currEstimate = (4061665, 594413.76, 44.93) 2020-12-09T06:35:28Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:35:28Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:35:28Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:35:28Z- TNavBF::mmse selected from filter -1 2020-12-09T06:35:28Z- variances([0], [2], and psi_berg) = 803.519952 833.110869 0.000000 2020-12-09T06:35:28Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:35:28Z- LcmTrn::cycle() - MLE : 4061634.95 594462.26 44.93 2020-12-09T06:35:28Z- LcmTrn::cycle() - MMSE : 4061665.45 594413.76 44.93 2020-12-09T06:35:28Z- LcmTrn::cycle() - COVAR: 803.52 833.11 41.19 0.00 2020-12-09T06:35:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495728.48 epoch sec; seqNo:864; 4061665.45 north; 594413.76 east 2020-12-09T06:35:28Z- waiting for 1607495731.45, time is 1607495728.45 2020-12-09T06:35:28Z- sync is 0.03, coherence is 2.00 2020-12-09T06:35:28Z- AHRS_M2 msg: 1607495728.83 epoch sec; seqNo:834 2020-12-09T06:35:28Z- AHRS_M2 msg: 4.67 phi; -0.14 theta; -0.23 psi 2020-12-09T06:35:28Z- waiting for 1607495731.45, time is 1607495728.45 2020-12-09T06:35:28Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:28Z- handleDepth()-Depth_Keller msg: 45.02 epoch sec; seqNo:1607495728838; depth 0.00 2020-12-09T06:35:28Z- waiting for 1607495731.45, time is 1607495728.45 2020-12-09T06:35:28Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495728.85 epoch sec; seqNo:865; 4061665.83 north; 594413.75 east 2020-12-09T06:35:28Z- waiting for 1607495731.45, time is 1607495728.45 2020-12-09T06:35:28Z- sync is 0.40, coherence is 2.00 2020-12-09T06:35:29Z- AHRS_M2 msg: 1607495729.24 epoch sec; seqNo:835 2020-12-09T06:35:29Z- AHRS_M2 msg: 4.67 phi; -0.14 theta; -0.23 psi 2020-12-09T06:35:29Z- waiting for 1607495731.45, time is 1607495728.45 2020-12-09T06:35:29Z- sync is 0.79, coherence is 2.00 2020-12-09T06:35:29Z- handleDepth()-Depth_Keller msg: 45.08 epoch sec; seqNo:1607495729244; depth 0.00 2020-12-09T06:35:29Z- waiting for 1607495731.45, time is 1607495728.45 2020-12-09T06:35:29Z- sync is 0.79, coherence is 2.00 2020-12-09T06:35:29Z- handleDvl() - RDI_Pathfinder msg: 1607495729.26 epoch sec; seqNo:469 2020-12-09T06:35:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.68 , 47.90 , 34.81 , 43.04 2020-12-09T06:35:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , 0.02 , 0.09 2020-12-09T06:35:29Z- waiting for 1607495731.45, time is 1607495729.26 2020-12-09T06:35:29Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495729.27 epoch sec; seqNo:866; 4061665.82 north; 594412.53 east 2020-12-09T06:35:29Z- waiting for 1607495731.45, time is 1607495729.26 2020-12-09T06:35:29Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:29Z- AHRS_M2 msg: 1607495729.64 epoch sec; seqNo:836 2020-12-09T06:35:29Z- AHRS_M2 msg: 4.67 phi; -0.14 theta; -0.23 psi 2020-12-09T06:35:29Z- waiting for 1607495731.45, time is 1607495729.26 2020-12-09T06:35:29Z- sync is 0.39, coherence is 2.00 2020-12-09T06:35:29Z- handleDepth()-Depth_Keller msg: 45.17 epoch sec; seqNo:1607495729663; depth 0.00 2020-12-09T06:35:29Z- waiting for 1607495731.45, time is 1607495729.26 2020-12-09T06:35:29Z- sync is 0.39, coherence is 2.00 2020-12-09T06:35:29Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:29Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:29Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:29Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:35:29Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:35:29Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:35:29Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:35:29Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:35:29Z- handleDvl() - RDI_Pathfinder msg: 1607495729.66 epoch sec; seqNo:470 2020-12-09T06:35:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:35:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , 0.02 , 0.09 2020-12-09T06:35:29Z- waiting for 1607495731.45, time is 1607495729.66 2020-12-09T06:35:29Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495729.68 epoch sec; seqNo:867; 4061665.82 north; 594412.53 east 2020-12-09T06:35:29Z- waiting for 1607495731.45, time is 1607495729.66 2020-12-09T06:35:29Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:30Z- AHRS_M2 msg: 1607495730.05 epoch sec; seqNo:837 2020-12-09T06:35:30Z- AHRS_M2 msg: 4.67 phi; -0.14 theta; -0.23 psi 2020-12-09T06:35:30Z- waiting for 1607495731.45, time is 1607495729.66 2020-12-09T06:35:30Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:30Z- handleDepth()-Depth_Keller msg: 45.24 epoch sec; seqNo:1607495730050; depth 0.00 2020-12-09T06:35:30Z- waiting for 1607495731.45, time is 1607495729.66 2020-12-09T06:35:30Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495730.06 epoch sec; seqNo:868; 4061665.82 north; 594412.53 east 2020-12-09T06:35:30Z- waiting for 1607495731.45, time is 1607495729.66 2020-12-09T06:35:30Z- sync is 0.40, coherence is 2.00 2020-12-09T06:35:30Z- AHRS_M2 msg: 1607495730.45 epoch sec; seqNo:838 2020-12-09T06:35:30Z- AHRS_M2 msg: 4.67 phi; -0.14 theta; -0.23 psi 2020-12-09T06:35:30Z- waiting for 1607495731.45, time is 1607495729.66 2020-12-09T06:35:30Z- sync is 0.79, coherence is 2.00 2020-12-09T06:35:30Z- handleDepth()-Depth_Keller msg: 45.31 epoch sec; seqNo:1607495730456; depth 0.00 2020-12-09T06:35:30Z- waiting for 1607495731.45, time is 1607495729.66 2020-12-09T06:35:30Z- sync is 0.79, coherence is 2.00 2020-12-09T06:35:30Z- handleDvl() - RDI_Pathfinder msg: 1607495730.47 epoch sec; seqNo:471 2020-12-09T06:35:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.68 , 48.28 , 34.81 , 43.41 2020-12-09T06:35:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.03 , 0.08 2020-12-09T06:35:30Z- waiting for 1607495731.45, time is 1607495730.47 2020-12-09T06:35:30Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495730.48 epoch sec; seqNo:869; 4061665.44 north; 594412.54 east 2020-12-09T06:35:30Z- waiting for 1607495731.45, time is 1607495730.47 2020-12-09T06:35:30Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:30Z- AHRS_M2 msg: 1607495730.85 epoch sec; seqNo:839 2020-12-09T06:35:30Z- AHRS_M2 msg: 4.67 phi; -0.14 theta; -0.23 psi 2020-12-09T06:35:30Z- waiting for 1607495731.45, time is 1607495730.47 2020-12-09T06:35:30Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:30Z- handleDepth()-Depth_Keller msg: 45.39 epoch sec; seqNo:1607495730870; depth 0.00 2020-12-09T06:35:30Z- waiting for 1607495731.45, time is 1607495730.47 2020-12-09T06:35:30Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:30Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:30Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:30Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:30Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:35:30Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:35:30Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:35:30Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:35:30Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:35:30Z- handleDvl() - RDI_Pathfinder msg: 1607495730.87 epoch sec; seqNo:472 2020-12-09T06:35:30Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:35:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.03 , 0.08 2020-12-09T06:35:30Z- waiting for 1607495731.45, time is 1607495730.87 2020-12-09T06:35:30Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495730.88 epoch sec; seqNo:870; 4061665.43 north; 594411.32 east 2020-12-09T06:35:30Z- waiting for 1607495731.45, time is 1607495730.87 2020-12-09T06:35:30Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:31Z- AHRS_M2 msg: 1607495731.26 epoch sec; seqNo:840 2020-12-09T06:35:31Z- AHRS_M2 msg: 4.67 phi; -0.14 theta; -0.23 psi 2020-12-09T06:35:31Z- waiting for 1607495731.45, time is 1607495730.87 2020-12-09T06:35:31Z- sync is 0.39, coherence is 2.00 2020-12-09T06:35:31Z- handleDepth()-Depth_Keller msg: 45.44 epoch sec; seqNo:1607495731270; depth 0.00 2020-12-09T06:35:31Z- waiting for 1607495731.45, time is 1607495730.87 2020-12-09T06:35:31Z- sync is 0.39, coherence is 2.00 2020-12-09T06:35:31Z- handleDvl() - RDI_Pathfinder msg: 1607495731.30 epoch sec; seqNo:473 2020-12-09T06:35:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.49 , 47.34 , 34.81 , 43.60 2020-12-09T06:35:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.06 , 0.06 2020-12-09T06:35:31Z- waiting for 1607495731.45, time is 1607495731.30 2020-12-09T06:35:31Z- sync is 0.04, coherence is 2.00 2020-12-09T06:35:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495731.32 epoch sec; seqNo:871; 4061665.43 north; 594411.32 east 2020-12-09T06:35:31Z- waiting for 1607495731.45, time is 1607495731.30 2020-12-09T06:35:31Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:31Z- AHRS_M2 msg: 1607495731.66 epoch sec; seqNo:841 2020-12-09T06:35:31Z- AHRS_M2 msg: 4.68 phi; -0.14 theta; -0.23 psi 2020-12-09T06:35:31Z- waiting for 1607495731.45, time is 1607495731.30 2020-12-09T06:35:31Z- sync is 0.36, coherence is 2.00 2020-12-09T06:35:31Z- handleDepth()-Depth_Keller msg: 45.50 epoch sec; seqNo:1607495731678; depth 0.00 2020-12-09T06:35:31Z- waiting for 1607495731.45, time is 1607495731.30 2020-12-09T06:35:31Z- sync is 0.36, coherence is 2.00 2020-12-09T06:35:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495731.71 epoch sec; seqNo:872; 4061665.43 north; 594411.32 east 2020-12-09T06:35:31Z- waiting for 1607495731.45, time is 1607495731.30 2020-12-09T06:35:31Z- sync is 0.40, coherence is 2.00 2020-12-09T06:35:32Z- AHRS_M2 msg: 1607495732.07 epoch sec; seqNo:842 2020-12-09T06:35:32Z- AHRS_M2 msg: 4.68 phi; -0.14 theta; -0.23 psi 2020-12-09T06:35:32Z- waiting for 1607495731.45, time is 1607495731.30 2020-12-09T06:35:32Z- sync is 0.77, coherence is 2.00 2020-12-09T06:35:32Z- handleDepth()-Depth_Keller msg: 45.58 epoch sec; seqNo:1607495732077; depth 0.00 2020-12-09T06:35:32Z- waiting for 1607495731.45, time is 1607495731.30 2020-12-09T06:35:32Z- sync is 0.77, coherence is 2.00 2020-12-09T06:35:32Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:32Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:32Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:32Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:35:32Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:35:32Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:35:32Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:35:32Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:35:32Z- handleDvl() - RDI_Pathfinder msg: 1607495732.08 epoch sec; seqNo:474 2020-12-09T06:35:32Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:35:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.06 , 0.06 2020-12-09T06:35:32Z- waiting for 1607495731.45, time is 1607495732.08 2020-12-09T06:35:32Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:32Z- LcmTrn::updateTrn() >>>> pose time 1607495732.07, meas time 1607495732.08 <<<< 2020-12-09T06:35:32Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495732.08, ping # 0. 2020-12-09T06:35:32Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495732.08 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:35:32Z- TerrainNav::motionUpdate() - currEstimate = (4061665, 594411.32, 45.58) 2020-12-09T06:35:32Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:35:32Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:35:32Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:35:32Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:35:32Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:35:32Z- TNavBF::mmse selected from filter -1 2020-12-09T06:35:32Z- variances([0], [2], and psi_berg) = 803.328890 833.110414 0.000000 2020-12-09T06:35:32Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:35:32Z- LcmTrn::cycle() - MLE : 4061634.93 594459.82 45.58 2020-12-09T06:35:32Z- LcmTrn::cycle() - MMSE : 4061665.43 594411.32 45.58 2020-12-09T06:35:32Z- LcmTrn::cycle() - COVAR: 803.33 833.11 41.32 0.00 2020-12-09T06:35:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495732.09 epoch sec; seqNo:873; 4061665.43 north; 594411.32 east 2020-12-09T06:35:32Z- waiting for 1607495735.08, time is 1607495732.08 2020-12-09T06:35:32Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:32Z- AHRS_M2 msg: 1607495732.47 epoch sec; seqNo:843 2020-12-09T06:35:32Z- AHRS_M2 msg: 4.68 phi; -0.14 theta; -0.23 psi 2020-12-09T06:35:32Z- waiting for 1607495735.08, time is 1607495732.08 2020-12-09T06:35:32Z- sync is 0.39, coherence is 2.00 2020-12-09T06:35:32Z- handleDepth()-Depth_Keller msg: 45.61 epoch sec; seqNo:1607495732474; depth 0.00 2020-12-09T06:35:32Z- waiting for 1607495735.08, time is 1607495732.08 2020-12-09T06:35:32Z- sync is 0.39, coherence is 2.00 2020-12-09T06:35:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495732.48 epoch sec; seqNo:874; 4061665.41 north; 594410.10 east 2020-12-09T06:35:32Z- waiting for 1607495735.08, time is 1607495732.08 2020-12-09T06:35:32Z- sync is 0.40, coherence is 2.00 2020-12-09T06:35:32Z- AHRS_M2 msg: 1607495732.89 epoch sec; seqNo:844 2020-12-09T06:35:32Z- AHRS_M2 msg: 4.69 phi; -0.14 theta; -0.22 psi 2020-12-09T06:35:32Z- waiting for 1607495735.08, time is 1607495732.08 2020-12-09T06:35:32Z- sync is 0.81, coherence is 2.00 2020-12-09T06:35:32Z- handleDepth()-Depth_Keller msg: 45.65 epoch sec; seqNo:1607495732895; depth 0.00 2020-12-09T06:35:32Z- waiting for 1607495735.08, time is 1607495732.08 2020-12-09T06:35:32Z- sync is 0.81, coherence is 2.00 2020-12-09T06:35:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495732.90 epoch sec; seqNo:875; 4061665.41 north; 594410.10 east 2020-12-09T06:35:32Z- waiting for 1607495735.08, time is 1607495732.08 2020-12-09T06:35:32Z- sync is 0.83, coherence is 2.00 2020-12-09T06:35:33Z- AHRS_M2 msg: 1607495733.29 epoch sec; seqNo:845 2020-12-09T06:35:33Z- AHRS_M2 msg: 4.69 phi; -0.14 theta; -0.22 psi 2020-12-09T06:35:33Z- waiting for 1607495735.08, time is 1607495732.08 2020-12-09T06:35:33Z- sync is 1.21, coherence is 2.00 2020-12-09T06:35:33Z- handleDepth()-Depth_Keller msg: 45.70 epoch sec; seqNo:1607495733291; depth 0.00 2020-12-09T06:35:33Z- waiting for 1607495735.08, time is 1607495732.08 2020-12-09T06:35:33Z- sync is 1.21, coherence is 2.00 2020-12-09T06:35:33Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:33Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:33Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:33Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:35:33Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:35:33Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:35:33Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:35:33Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:35:33Z- handleDvl() - RDI_Pathfinder msg: 1607495733.29 epoch sec; seqNo:475 2020-12-09T06:35:33Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:35:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.06 , 0.06 2020-12-09T06:35:33Z- waiting for 1607495735.08, time is 1607495733.29 2020-12-09T06:35:33Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495733.31 epoch sec; seqNo:876; 4061665.41 north; 594410.10 east 2020-12-09T06:35:33Z- waiting for 1607495735.08, time is 1607495733.29 2020-12-09T06:35:33Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:33Z- handleDepth()-Depth_Keller msg: 45.74 epoch sec; seqNo:1607495733710; depth 0.00 2020-12-09T06:35:33Z- waiting for 1607495735.08, time is 1607495733.29 2020-12-09T06:35:33Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495733.72 epoch sec; seqNo:877; 4061665.40 north; 594408.88 east 2020-12-09T06:35:33Z- waiting for 1607495735.08, time is 1607495733.29 2020-12-09T06:35:33Z- sync is 0.43, coherence is 2.00 2020-12-09T06:35:34Z- AHRS_M2 msg: 1607495734.09 epoch sec; seqNo:846 2020-12-09T06:35:34Z- AHRS_M2 msg: 4.70 phi; -0.14 theta; -0.22 psi 2020-12-09T06:35:34Z- waiting for 1607495735.08, time is 1607495733.29 2020-12-09T06:35:34Z- sync is 0.79, coherence is 2.00 2020-12-09T06:35:34Z- handleDepth()-Depth_Keller msg: 45.78 epoch sec; seqNo:1607495734093; depth 0.00 2020-12-09T06:35:34Z- waiting for 1607495735.08, time is 1607495733.29 2020-12-09T06:35:34Z- sync is 0.79, coherence is 2.00 2020-12-09T06:35:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495734.10 epoch sec; seqNo:878; 4061665.40 north; 594408.88 east 2020-12-09T06:35:34Z- waiting for 1607495735.08, time is 1607495733.29 2020-12-09T06:35:34Z- sync is 0.81, coherence is 2.00 2020-12-09T06:35:34Z- AHRS_M2 msg: 1607495734.49 epoch sec; seqNo:847 2020-12-09T06:35:34Z- AHRS_M2 msg: 4.70 phi; -0.14 theta; -0.22 psi 2020-12-09T06:35:34Z- waiting for 1607495735.08, time is 1607495733.29 2020-12-09T06:35:34Z- sync is 1.19, coherence is 2.00 2020-12-09T06:35:34Z- handleDepth()-Depth_Keller msg: 45.79 epoch sec; seqNo:1607495734495; depth 0.00 2020-12-09T06:35:34Z- waiting for 1607495735.08, time is 1607495733.29 2020-12-09T06:35:34Z- sync is 1.19, coherence is 2.00 2020-12-09T06:35:34Z- handleDvl() - RDI_Pathfinder msg: 1607495734.51 epoch sec; seqNo:476 2020-12-09T06:35:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.12 , 46.41 , 34.06 , 43.60 2020-12-09T06:35:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.07 , -0.07 2020-12-09T06:35:34Z- waiting for 1607495735.08, time is 1607495734.51 2020-12-09T06:35:34Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495734.52 epoch sec; seqNo:879; 4061665.40 north; 594408.88 east 2020-12-09T06:35:34Z- waiting for 1607495735.08, time is 1607495734.51 2020-12-09T06:35:34Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:34Z- AHRS_M2 msg: 1607495734.89 epoch sec; seqNo:848 2020-12-09T06:35:34Z- AHRS_M2 msg: 4.70 phi; -0.14 theta; -0.22 psi 2020-12-09T06:35:34Z- waiting for 1607495735.08, time is 1607495734.51 2020-12-09T06:35:34Z- sync is 0.39, coherence is 2.00 2020-12-09T06:35:34Z- handleDepth()-Depth_Keller msg: 45.82 epoch sec; seqNo:1607495734900; depth 0.00 2020-12-09T06:35:34Z- waiting for 1607495735.08, time is 1607495734.51 2020-12-09T06:35:34Z- sync is 0.39, coherence is 2.00 2020-12-09T06:35:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495734.91 epoch sec; seqNo:880; 4061665.40 north; 594408.88 east 2020-12-09T06:35:34Z- waiting for 1607495735.08, time is 1607495734.51 2020-12-09T06:35:34Z- sync is 0.41, coherence is 2.00 2020-12-09T06:35:35Z- AHRS_M2 msg: 1607495735.30 epoch sec; seqNo:849 2020-12-09T06:35:35Z- AHRS_M2 msg: 4.70 phi; -0.14 theta; -0.22 psi 2020-12-09T06:35:35Z- waiting for 1607495735.08, time is 1607495734.51 2020-12-09T06:35:35Z- sync is 0.79, coherence is 2.00 2020-12-09T06:35:35Z- handleDepth()-Depth_Keller msg: 45.85 epoch sec; seqNo:1607495735306; depth 0.00 2020-12-09T06:35:35Z- waiting for 1607495735.08, time is 1607495734.51 2020-12-09T06:35:35Z- sync is 0.79, coherence is 2.00 2020-12-09T06:35:35Z- handleDvl() - RDI_Pathfinder msg: 1607495735.32 epoch sec; seqNo:477 2020-12-09T06:35:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.93 , 45.10 , 33.68 , 43.22 2020-12-09T06:35:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.05 , -0.13 2020-12-09T06:35:35Z- waiting for 1607495735.08, time is 1607495735.32 2020-12-09T06:35:35Z- sync is 0.03, coherence is 2.00 2020-12-09T06:35:35Z- LcmTrn::updateTrn() >>>> pose time 1607495735.30, meas time 1607495735.32 <<<< 2020-12-09T06:35:35Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495735.32 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:35:35Z- TerrainNav::motionUpdate() - currEstimate = (4061665, 594408.88, 45.85) 2020-12-09T06:35:35Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:35:35Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:35:35Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:35:35Z- TNavBF::mmse selected from filter -1 2020-12-09T06:35:35Z- variances([0], [2], and psi_berg) = 803.138689 833.109964 0.000000 2020-12-09T06:35:35Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:35:35Z- LcmTrn::cycle() - MLE : 4061634.90 594457.38 45.85 2020-12-09T06:35:35Z- LcmTrn::cycle() - MMSE : 4061665.40 594408.88 45.85 2020-12-09T06:35:35Z- LcmTrn::cycle() - COVAR: 803.14 833.11 41.44 0.00 2020-12-09T06:35:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495735.34 epoch sec; seqNo:881; 4061665.39 north; 594407.66 east 2020-12-09T06:35:35Z- waiting for 1607495738.32, time is 1607495735.32 2020-12-09T06:35:35Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:35Z- AHRS_M2 msg: 1607495735.70 epoch sec; seqNo:850 2020-12-09T06:35:35Z- AHRS_M2 msg: 4.71 phi; -0.14 theta; -0.22 psi 2020-12-09T06:35:35Z- waiting for 1607495738.32, time is 1607495735.32 2020-12-09T06:35:35Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:35Z- handleDepth()-Depth_Keller msg: 45.88 epoch sec; seqNo:1607495735705; depth 0.00 2020-12-09T06:35:35Z- waiting for 1607495738.32, time is 1607495735.32 2020-12-09T06:35:35Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:35Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:35Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:35:35Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:35:35Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:35:35Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:35:35Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:35:35Z- handleDvl() - RDI_Pathfinder msg: 1607495735.71 epoch sec; seqNo:478 2020-12-09T06:35:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:35:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.05 , -0.13 2020-12-09T06:35:35Z- waiting for 1607495738.32, time is 1607495735.71 2020-12-09T06:35:35Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495735.72 epoch sec; seqNo:882; 4061665.39 north; 594407.66 east 2020-12-09T06:35:35Z- waiting for 1607495738.32, time is 1607495735.71 2020-12-09T06:35:35Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:36Z- AHRS_M2 msg: 1607495736.11 epoch sec; seqNo:851 2020-12-09T06:35:36Z- AHRS_M2 msg: 4.71 phi; -0.14 theta; -0.22 psi 2020-12-09T06:35:36Z- waiting for 1607495738.32, time is 1607495735.71 2020-12-09T06:35:36Z- sync is 0.40, coherence is 2.00 2020-12-09T06:35:36Z- handleDepth()-Depth_Keller msg: 45.90 epoch sec; seqNo:1607495736114; depth 0.00 2020-12-09T06:35:36Z- waiting for 1607495738.32, time is 1607495735.71 2020-12-09T06:35:36Z- sync is 0.40, coherence is 2.00 2020-12-09T06:35:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495736.12 epoch sec; seqNo:883; 4061665.01 north; 594407.66 east 2020-12-09T06:35:36Z- waiting for 1607495738.32, time is 1607495735.71 2020-12-09T06:35:36Z- sync is 0.42, coherence is 2.00 2020-12-09T06:35:36Z- AHRS_M2 msg: 1607495736.51 epoch sec; seqNo:852 2020-12-09T06:35:36Z- AHRS_M2 msg: 4.71 phi; -0.14 theta; -0.23 psi 2020-12-09T06:35:36Z- waiting for 1607495738.32, time is 1607495735.71 2020-12-09T06:35:36Z- sync is 0.81, coherence is 2.00 2020-12-09T06:35:36Z- handleDepth()-Depth_Keller msg: 45.90 epoch sec; seqNo:1607495736518; depth 0.00 2020-12-09T06:35:36Z- waiting for 1607495738.32, time is 1607495735.71 2020-12-09T06:35:36Z- sync is 0.81, coherence is 2.00 2020-12-09T06:35:36Z- handleDvl() - RDI_Pathfinder msg: 1607495736.53 epoch sec; seqNo:479 2020-12-09T06:35:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.56 , 44.53 , 33.31 , 42.85 2020-12-09T06:35:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.00 , -0.16 2020-12-09T06:35:36Z- waiting for 1607495738.32, time is 1607495736.53 2020-12-09T06:35:36Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495736.54 epoch sec; seqNo:884; 4061665.01 north; 594407.66 east 2020-12-09T06:35:36Z- waiting for 1607495738.32, time is 1607495736.53 2020-12-09T06:35:36Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:36Z- AHRS_M2 msg: 1607495736.92 epoch sec; seqNo:853 2020-12-09T06:35:36Z- AHRS_M2 msg: 4.70 phi; -0.14 theta; -0.23 psi 2020-12-09T06:35:36Z- waiting for 1607495738.32, time is 1607495736.53 2020-12-09T06:35:36Z- sync is 0.39, coherence is 2.00 2020-12-09T06:35:36Z- handleDepth()-Depth_Keller msg: 45.92 epoch sec; seqNo:1607495736933; depth 0.00 2020-12-09T06:35:36Z- waiting for 1607495738.32, time is 1607495736.53 2020-12-09T06:35:36Z- sync is 0.39, coherence is 2.00 2020-12-09T06:35:36Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:36Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:36Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:36Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:35:36Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:35:36Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:35:36Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:35:36Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:35:36Z- handleDvl() - RDI_Pathfinder msg: 1607495736.94 epoch sec; seqNo:480 2020-12-09T06:35:36Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:35:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.00 , -0.16 2020-12-09T06:35:36Z- waiting for 1607495738.32, time is 1607495736.94 2020-12-09T06:35:36Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495736.95 epoch sec; seqNo:885; 4061664.99 north; 594406.44 east 2020-12-09T06:35:36Z- waiting for 1607495738.32, time is 1607495736.94 2020-12-09T06:35:36Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:37Z- AHRS_M2 msg: 1607495737.32 epoch sec; seqNo:854 2020-12-09T06:35:37Z- AHRS_M2 msg: 4.70 phi; -0.13 theta; -0.23 psi 2020-12-09T06:35:37Z- waiting for 1607495738.32, time is 1607495736.94 2020-12-09T06:35:37Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:37Z- handleDepth()-Depth_Keller msg: 45.93 epoch sec; seqNo:1607495737323; depth 0.00 2020-12-09T06:35:37Z- waiting for 1607495738.32, time is 1607495736.94 2020-12-09T06:35:37Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:37Z- handleDvl() - RDI_Pathfinder msg: 1607495737.34 epoch sec; seqNo:481 2020-12-09T06:35:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.37 , 45.10 , 32.93 , 42.85 2020-12-09T06:35:37Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.03 , -0.16 2020-12-09T06:35:37Z- waiting for 1607495738.32, time is 1607495737.34 2020-12-09T06:35:37Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495737.37 epoch sec; seqNo:886; 4061664.99 north; 594406.44 east 2020-12-09T06:35:37Z- waiting for 1607495738.32, time is 1607495737.34 2020-12-09T06:35:37Z- sync is 0.03, coherence is 2.00 2020-12-09T06:35:37Z- AHRS_M2 msg: 1607495737.72 epoch sec; seqNo:855 2020-12-09T06:35:37Z- AHRS_M2 msg: 4.70 phi; -0.13 theta; -0.23 psi 2020-12-09T06:35:37Z- waiting for 1607495738.32, time is 1607495737.34 2020-12-09T06:35:37Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:37Z- handleDepth()-Depth_Keller msg: 45.95 epoch sec; seqNo:1607495737729; depth 0.00 2020-12-09T06:35:37Z- waiting for 1607495738.32, time is 1607495737.34 2020-12-09T06:35:37Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495737.74 epoch sec; seqNo:887; 4061664.99 north; 594406.44 east 2020-12-09T06:35:37Z- waiting for 1607495738.32, time is 1607495737.34 2020-12-09T06:35:37Z- sync is 0.41, coherence is 2.00 2020-12-09T06:35:38Z- AHRS_M2 msg: 1607495738.13 epoch sec; seqNo:856 2020-12-09T06:35:38Z- AHRS_M2 msg: 4.70 phi; -0.13 theta; -0.23 psi 2020-12-09T06:35:38Z- waiting for 1607495738.32, time is 1607495737.34 2020-12-09T06:35:38Z- sync is 0.79, coherence is 2.00 2020-12-09T06:35:38Z- handleDepth()-Depth_Keller msg: 45.97 epoch sec; seqNo:1607495738132; depth 0.00 2020-12-09T06:35:38Z- waiting for 1607495738.32, time is 1607495737.34 2020-12-09T06:35:38Z- sync is 0.79, coherence is 2.00 2020-12-09T06:35:38Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:38Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:38Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:38Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:35:38Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:35:38Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:35:38Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:35:38Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:35:38Z- handleDvl() - RDI_Pathfinder msg: 1607495738.13 epoch sec; seqNo:482 2020-12-09T06:35:38Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:35:38Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.03 , -0.16 2020-12-09T06:35:38Z- waiting for 1607495738.32, time is 1607495738.13 2020-12-09T06:35:38Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495738.14 epoch sec; seqNo:888; 4061664.98 north; 594405.22 east 2020-12-09T06:35:38Z- waiting for 1607495738.32, time is 1607495738.13 2020-12-09T06:35:38Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:38Z- AHRS_M2 msg: 1607495738.53 epoch sec; seqNo:857 2020-12-09T06:35:38Z- AHRS_M2 msg: 4.69 phi; -0.13 theta; -0.23 psi 2020-12-09T06:35:38Z- waiting for 1607495738.32, time is 1607495738.13 2020-12-09T06:35:38Z- sync is 0.39, coherence is 2.00 2020-12-09T06:35:38Z- handleDepth()-Depth_Keller msg: 45.99 epoch sec; seqNo:1607495738544; depth 0.00 2020-12-09T06:35:38Z- waiting for 1607495738.32, time is 1607495738.13 2020-12-09T06:35:38Z- sync is 0.39, coherence is 2.00 2020-12-09T06:35:38Z- handleDvl() - RDI_Pathfinder msg: 1607495738.56 epoch sec; seqNo:483 2020-12-09T06:35:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.19 , 45.28 , 32.75 , 42.48 2020-12-09T06:35:38Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , 0.08 , -0.14 2020-12-09T06:35:38Z- waiting for 1607495738.32, time is 1607495738.56 2020-12-09T06:35:38Z- sync is 0.03, coherence is 2.00 2020-12-09T06:35:38Z- LcmTrn::updateTrn() >>>> pose time 1607495738.53, meas time 1607495738.56 <<<< 2020-12-09T06:35:38Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495738.56 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:35:38Z- TerrainNav::motionUpdate() - currEstimate = (4061665, 594405.22, 45.99) 2020-12-09T06:35:38Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:35:38Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:35:38Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:35:38Z- TNavBF::mmse selected from filter -1 2020-12-09T06:35:38Z- variances([0], [2], and psi_berg) = 802.906158 833.109417 0.000000 2020-12-09T06:35:38Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:35:38Z- LcmTrn::cycle() - MLE : 4061634.48 594453.72 45.99 2020-12-09T06:35:38Z- LcmTrn::cycle() - MMSE : 4061664.98 594405.22 45.99 2020-12-09T06:35:38Z- LcmTrn::cycle() - COVAR: 802.91 833.11 41.63 0.00 2020-12-09T06:35:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495738.57 epoch sec; seqNo:889; 4061664.98 north; 594405.22 east 2020-12-09T06:35:38Z- waiting for 1607495741.56, time is 1607495738.56 2020-12-09T06:35:38Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:38Z- AHRS_M2 msg: 1607495738.93 epoch sec; seqNo:858 2020-12-09T06:35:38Z- AHRS_M2 msg: 4.69 phi; -0.13 theta; -0.23 psi 2020-12-09T06:35:38Z- waiting for 1607495741.56, time is 1607495738.56 2020-12-09T06:35:38Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:39Z- handleDepth()-Depth_Keller msg: 46.01 epoch sec; seqNo:1607495739082; depth 0.00 2020-12-09T06:35:39Z- waiting for 1607495741.56, time is 1607495738.56 2020-12-09T06:35:39Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:39Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:39Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:39Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:39Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:35:39Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:35:39Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:35:39Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:35:39Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:35:39Z- handleDvl() - RDI_Pathfinder msg: 1607495739.08 epoch sec; seqNo:484 2020-12-09T06:35:39Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:35:39Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , 0.08 , -0.14 2020-12-09T06:35:39Z- waiting for 1607495741.56, time is 1607495739.08 2020-12-09T06:35:39Z- sync is 0.15, coherence is 2.00 2020-12-09T06:35:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495739.10 epoch sec; seqNo:890; 4061664.97 north; 594404.00 east 2020-12-09T06:35:39Z- waiting for 1607495741.56, time is 1607495739.08 2020-12-09T06:35:39Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:39Z- AHRS_M2 msg: 1607495739.34 epoch sec; seqNo:859 2020-12-09T06:35:39Z- AHRS_M2 msg: 4.68 phi; -0.13 theta; -0.23 psi 2020-12-09T06:35:39Z- waiting for 1607495741.56, time is 1607495739.08 2020-12-09T06:35:39Z- sync is 0.25, coherence is 2.00 2020-12-09T06:35:39Z- handleDepth()-Depth_Keller msg: 46.05 epoch sec; seqNo:1607495739390; depth 0.00 2020-12-09T06:35:39Z- waiting for 1607495741.56, time is 1607495739.08 2020-12-09T06:35:39Z- sync is 0.25, coherence is 2.00 2020-12-09T06:35:39Z- handleDvl() - RDI_Pathfinder msg: 1607495739.41 epoch sec; seqNo:485 2020-12-09T06:35:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.81 , 43.22 , 32.56 , 41.91 2020-12-09T06:35:39Z- handleDvl() - RDI_Pathfinder msg: velocities 1.15 , 0.12 , -0.08 2020-12-09T06:35:39Z- waiting for 1607495741.56, time is 1607495739.41 2020-12-09T06:35:39Z- sync is 0.08, coherence is 2.00 2020-12-09T06:35:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495739.43 epoch sec; seqNo:891; 4061664.97 north; 594404.00 east 2020-12-09T06:35:39Z- waiting for 1607495741.56, time is 1607495739.41 2020-12-09T06:35:39Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:39Z- AHRS_M2 msg: 1607495739.74 epoch sec; seqNo:860 2020-12-09T06:35:39Z- AHRS_M2 msg: 4.68 phi; -0.13 theta; -0.23 psi 2020-12-09T06:35:39Z- waiting for 1607495741.56, time is 1607495739.41 2020-12-09T06:35:39Z- sync is 0.33, coherence is 2.00 2020-12-09T06:35:39Z- handleDepth()-Depth_Keller msg: 46.08 epoch sec; seqNo:1607495739782; depth 0.00 2020-12-09T06:35:39Z- waiting for 1607495741.56, time is 1607495739.41 2020-12-09T06:35:39Z- sync is 0.33, coherence is 2.00 2020-12-09T06:35:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495739.80 epoch sec; seqNo:892; 4061664.97 north; 594404.00 east 2020-12-09T06:35:39Z- waiting for 1607495741.56, time is 1607495739.41 2020-12-09T06:35:39Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:40Z- AHRS_M2 msg: 1607495740.15 epoch sec; seqNo:861 2020-12-09T06:35:40Z- AHRS_M2 msg: 4.67 phi; -0.13 theta; -0.23 psi 2020-12-09T06:35:40Z- waiting for 1607495741.56, time is 1607495739.41 2020-12-09T06:35:40Z- sync is 0.74, coherence is 2.00 2020-12-09T06:35:40Z- handleDepth()-Depth_Keller msg: 46.11 epoch sec; seqNo:1607495740199; depth 0.00 2020-12-09T06:35:40Z- waiting for 1607495741.56, time is 1607495739.41 2020-12-09T06:35:40Z- sync is 0.74, coherence is 2.00 2020-12-09T06:35:40Z- handleDvl() - RDI_Pathfinder msg: 1607495740.22 epoch sec; seqNo:486 2020-12-09T06:35:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.81 , 43.03 , 32.49 , 41.84 2020-12-09T06:35:40Z- handleDvl() - RDI_Pathfinder msg: velocities 1.16 , 0.16 , -0.01 2020-12-09T06:35:40Z- waiting for 1607495741.56, time is 1607495740.22 2020-12-09T06:35:40Z- sync is 0.07, coherence is 2.00 2020-12-09T06:35:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495740.23 epoch sec; seqNo:893; 4061665.33 north; 594402.77 east 2020-12-09T06:35:40Z- waiting for 1607495741.56, time is 1607495740.22 2020-12-09T06:35:40Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:40Z- AHRS_M2 msg: 1607495740.55 epoch sec; seqNo:862 2020-12-09T06:35:40Z- AHRS_M2 msg: 4.67 phi; -0.13 theta; -0.24 psi 2020-12-09T06:35:40Z- waiting for 1607495741.56, time is 1607495740.22 2020-12-09T06:35:40Z- sync is 0.33, coherence is 2.00 2020-12-09T06:35:40Z- handleDepth()-Depth_Keller msg: 46.16 epoch sec; seqNo:1607495740555; depth 0.00 2020-12-09T06:35:40Z- waiting for 1607495741.56, time is 1607495740.22 2020-12-09T06:35:40Z- sync is 0.33, coherence is 2.00 2020-12-09T06:35:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495740.57 epoch sec; seqNo:894; 4061665.33 north; 594402.77 east 2020-12-09T06:35:40Z- waiting for 1607495741.56, time is 1607495740.22 2020-12-09T06:35:40Z- sync is 0.35, coherence is 2.00 2020-12-09T06:35:40Z- AHRS_M2 msg: 1607495740.95 epoch sec; seqNo:863 2020-12-09T06:35:40Z- AHRS_M2 msg: 4.66 phi; -0.13 theta; -0.24 psi 2020-12-09T06:35:40Z- waiting for 1607495741.56, time is 1607495740.22 2020-12-09T06:35:40Z- sync is 0.74, coherence is 2.00 2020-12-09T06:35:40Z- handleDepth()-Depth_Keller msg: 46.19 epoch sec; seqNo:1607495740971; depth 0.00 2020-12-09T06:35:40Z- waiting for 1607495741.56, time is 1607495740.22 2020-12-09T06:35:40Z- sync is 0.74, coherence is 2.00 2020-12-09T06:35:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495740.98 epoch sec; seqNo:895; 4061665.33 north; 594402.77 east 2020-12-09T06:35:40Z- waiting for 1607495741.56, time is 1607495740.22 2020-12-09T06:35:40Z- sync is 0.76, coherence is 2.00 2020-12-09T06:35:41Z- AHRS_M2 msg: 1607495741.36 epoch sec; seqNo:864 2020-12-09T06:35:41Z- AHRS_M2 msg: 4.65 phi; -0.13 theta; -0.24 psi 2020-12-09T06:35:41Z- waiting for 1607495741.56, time is 1607495740.22 2020-12-09T06:35:41Z- sync is 1.14, coherence is 2.00 2020-12-09T06:35:41Z- handleDepth()-Depth_Keller msg: 46.25 epoch sec; seqNo:1607495741366; depth 0.00 2020-12-09T06:35:41Z- waiting for 1607495741.56, time is 1607495740.22 2020-12-09T06:35:41Z- sync is 1.14, coherence is 2.00 2020-12-09T06:35:41Z- handleDvl() - RDI_Pathfinder msg: 1607495741.38 epoch sec; seqNo:487 2020-12-09T06:35:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.47 , 43.89 , 32.49 , 41.68 2020-12-09T06:35:41Z- handleDvl() - RDI_Pathfinder msg: velocities 1.13 , 0.14 , 0.05 2020-12-09T06:35:41Z- waiting for 1607495741.56, time is 1607495741.38 2020-12-09T06:35:41Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495741.40 epoch sec; seqNo:896; 4061665.32 north; 594401.55 east 2020-12-09T06:35:41Z- waiting for 1607495741.56, time is 1607495741.38 2020-12-09T06:35:41Z- sync is 0.03, coherence is 2.00 2020-12-09T06:35:41Z- AHRS_M2 msg: 1607495741.76 epoch sec; seqNo:865 2020-12-09T06:35:41Z- AHRS_M2 msg: 4.65 phi; -0.13 theta; -0.24 psi 2020-12-09T06:35:41Z- waiting for 1607495741.56, time is 1607495741.38 2020-12-09T06:35:41Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:41Z- handleDepth()-Depth_Keller msg: 46.31 epoch sec; seqNo:1607495741769; depth 0.00 2020-12-09T06:35:41Z- waiting for 1607495741.56, time is 1607495741.38 2020-12-09T06:35:41Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495741.78 epoch sec; seqNo:897; 4061665.32 north; 594401.55 east 2020-12-09T06:35:41Z- waiting for 1607495741.56, time is 1607495741.38 2020-12-09T06:35:41Z- sync is 0.40, coherence is 2.00 2020-12-09T06:35:42Z- AHRS_M2 msg: 1607495742.19 epoch sec; seqNo:866 2020-12-09T06:35:42Z- AHRS_M2 msg: 4.64 phi; -0.13 theta; -0.24 psi 2020-12-09T06:35:42Z- waiting for 1607495741.56, time is 1607495741.38 2020-12-09T06:35:42Z- sync is 0.81, coherence is 2.00 2020-12-09T06:35:42Z- handleDepth()-Depth_Keller msg: 46.36 epoch sec; seqNo:1607495742204; depth 0.00 2020-12-09T06:35:42Z- waiting for 1607495741.56, time is 1607495741.38 2020-12-09T06:35:42Z- sync is 0.81, coherence is 2.00 2020-12-09T06:35:42Z- handleDvl() - RDI_Pathfinder msg: 1607495742.22 epoch sec; seqNo:488 2020-12-09T06:35:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.64 , 44.57 , 32.49 , 41.85 2020-12-09T06:35:42Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , 0.14 , 0.09 2020-12-09T06:35:42Z- waiting for 1607495741.56, time is 1607495742.22 2020-12-09T06:35:42Z- sync is 0.03, coherence is 2.00 2020-12-09T06:35:42Z- LcmTrn::updateTrn() >>>> pose time 1607495742.19, meas time 1607495742.22 <<<< 2020-12-09T06:35:42Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495742.22 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:35:42Z- TerrainNav::motionUpdate() - currEstimate = (4061665, 594401.55, 46.36) 2020-12-09T06:35:42Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:35:42Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:35:42Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:35:42Z- TNavBF::mmse selected from filter -1 2020-12-09T06:35:42Z- variances([0], [2], and psi_berg) = 802.674896 833.108876 0.000000 2020-12-09T06:35:42Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:35:42Z- LcmTrn::cycle() - MLE : 4061634.82 594450.05 46.36 2020-12-09T06:35:42Z- LcmTrn::cycle() - MMSE : 4061665.32 594401.55 46.36 2020-12-09T06:35:42Z- LcmTrn::cycle() - COVAR: 802.67 833.11 41.82 0.00 2020-12-09T06:35:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495742.23 epoch sec; seqNo:898; 4061665.31 north; 594400.33 east 2020-12-09T06:35:42Z- waiting for 1607495745.22, time is 1607495742.22 2020-12-09T06:35:42Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:42Z- AHRS_M2 msg: 1607495742.57 epoch sec; seqNo:867 2020-12-09T06:35:42Z- AHRS_M2 msg: 4.64 phi; -0.13 theta; -0.24 psi 2020-12-09T06:35:42Z- waiting for 1607495745.22, time is 1607495742.22 2020-12-09T06:35:42Z- sync is 0.35, coherence is 2.00 2020-12-09T06:35:42Z- handleDepth()-Depth_Keller msg: 46.45 epoch sec; seqNo:1607495742586; depth 0.00 2020-12-09T06:35:42Z- waiting for 1607495745.22, time is 1607495742.22 2020-12-09T06:35:42Z- sync is 0.35, coherence is 2.00 2020-12-09T06:35:42Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:42Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:42Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:42Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:35:42Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:35:42Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:35:42Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:35:42Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:35:42Z- handleDvl() - RDI_Pathfinder msg: 1607495742.59 epoch sec; seqNo:489 2020-12-09T06:35:42Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:35:42Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , 0.14 , 0.09 2020-12-09T06:35:42Z- waiting for 1607495745.22, time is 1607495742.59 2020-12-09T06:35:42Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495742.60 epoch sec; seqNo:899; 4061665.31 north; 594400.33 east 2020-12-09T06:35:42Z- waiting for 1607495745.22, time is 1607495742.59 2020-12-09T06:35:42Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:42Z- AHRS_M2 msg: 1607495742.98 epoch sec; seqNo:868 2020-12-09T06:35:42Z- AHRS_M2 msg: 4.63 phi; -0.14 theta; -0.24 psi 2020-12-09T06:35:42Z- waiting for 1607495745.22, time is 1607495742.59 2020-12-09T06:35:42Z- sync is 0.39, coherence is 2.00 2020-12-09T06:35:42Z- handleDepth()-Depth_Keller msg: 46.51 epoch sec; seqNo:1607495742986; depth 0.00 2020-12-09T06:35:42Z- waiting for 1607495745.22, time is 1607495742.59 2020-12-09T06:35:42Z- sync is 0.39, coherence is 2.00 2020-12-09T06:35:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495743.00 epoch sec; seqNo:900; 4061665.31 north; 594400.33 east 2020-12-09T06:35:42Z- waiting for 1607495745.22, time is 1607495742.59 2020-12-09T06:35:42Z- sync is 0.41, coherence is 2.00 2020-12-09T06:35:43Z- AHRS_M2 msg: 1607495743.38 epoch sec; seqNo:869 2020-12-09T06:35:43Z- AHRS_M2 msg: 4.63 phi; -0.14 theta; -0.24 psi 2020-12-09T06:35:43Z- waiting for 1607495745.22, time is 1607495742.59 2020-12-09T06:35:43Z- sync is 0.79, coherence is 2.00 2020-12-09T06:35:43Z- handleDepth()-Depth_Keller msg: 46.58 epoch sec; seqNo:1607495743384; depth 0.00 2020-12-09T06:35:43Z- waiting for 1607495745.22, time is 1607495742.59 2020-12-09T06:35:43Z- sync is 0.79, coherence is 2.00 2020-12-09T06:35:43Z- handleDvl() - RDI_Pathfinder msg: 1607495743.40 epoch sec; seqNo:490 2020-12-09T06:35:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.64 , 44.40 , 32.49 , 42.02 2020-12-09T06:35:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.10 , 0.10 2020-12-09T06:35:43Z- waiting for 1607495745.22, time is 1607495743.40 2020-12-09T06:35:43Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495743.41 epoch sec; seqNo:901; 4061665.29 north; 594399.11 east 2020-12-09T06:35:43Z- waiting for 1607495745.22, time is 1607495743.40 2020-12-09T06:35:43Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:43Z- AHRS_M2 msg: 1607495743.78 epoch sec; seqNo:870 2020-12-09T06:35:43Z- AHRS_M2 msg: 4.63 phi; -0.14 theta; -0.24 psi 2020-12-09T06:35:43Z- waiting for 1607495745.22, time is 1607495743.40 2020-12-09T06:35:43Z- sync is 0.39, coherence is 2.00 2020-12-09T06:35:43Z- handleDepth()-Depth_Keller msg: 46.66 epoch sec; seqNo:1607495743790; depth 0.00 2020-12-09T06:35:43Z- waiting for 1607495745.22, time is 1607495743.40 2020-12-09T06:35:43Z- sync is 0.39, coherence is 2.00 2020-12-09T06:35:43Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:43Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:43Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:43Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:35:43Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:35:43Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:35:43Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:35:43Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:35:43Z- handleDvl() - RDI_Pathfinder msg: 1607495743.79 epoch sec; seqNo:491 2020-12-09T06:35:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:35:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.10 , 0.10 2020-12-09T06:35:43Z- waiting for 1607495745.22, time is 1607495743.79 2020-12-09T06:35:43Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495743.81 epoch sec; seqNo:902; 4061665.29 north; 594399.11 east 2020-12-09T06:35:43Z- waiting for 1607495745.22, time is 1607495743.79 2020-12-09T06:35:43Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:44Z- AHRS_M2 msg: 1607495744.21 epoch sec; seqNo:871 2020-12-09T06:35:44Z- AHRS_M2 msg: 4.62 phi; -0.14 theta; -0.24 psi 2020-12-09T06:35:44Z- waiting for 1607495745.22, time is 1607495743.79 2020-12-09T06:35:44Z- sync is 0.41, coherence is 2.00 2020-12-09T06:35:44Z- handleDepth()-Depth_Keller msg: 46.75 epoch sec; seqNo:1607495744221; depth 0.00 2020-12-09T06:35:44Z- waiting for 1607495745.22, time is 1607495743.79 2020-12-09T06:35:44Z- sync is 0.41, coherence is 2.00 2020-12-09T06:35:44Z- handleDvl() - RDI_Pathfinder msg: 1607495744.23 epoch sec; seqNo:492 2020-12-09T06:35:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.30 , 44.23 , 32.32 , 42.36 2020-12-09T06:35:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.06 , 0.10 2020-12-09T06:35:44Z- waiting for 1607495745.22, time is 1607495744.23 2020-12-09T06:35:44Z- sync is 0.03, coherence is 2.00 2020-12-09T06:35:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495744.25 epoch sec; seqNo:903; 4061665.29 north; 594399.11 east 2020-12-09T06:35:44Z- waiting for 1607495745.22, time is 1607495744.23 2020-12-09T06:35:44Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:44Z- AHRS_M2 msg: 1607495744.59 epoch sec; seqNo:872 2020-12-09T06:35:44Z- AHRS_M2 msg: 4.62 phi; -0.14 theta; -0.24 psi 2020-12-09T06:35:44Z- waiting for 1607495745.22, time is 1607495744.23 2020-12-09T06:35:44Z- sync is 0.36, coherence is 2.00 2020-12-09T06:35:44Z- handleDepth()-Depth_Keller msg: 46.82 epoch sec; seqNo:1607495744598; depth 0.00 2020-12-09T06:35:44Z- waiting for 1607495745.22, time is 1607495744.23 2020-12-09T06:35:44Z- sync is 0.36, coherence is 2.00 2020-12-09T06:35:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495744.61 epoch sec; seqNo:904; 4061665.29 north; 594399.11 east 2020-12-09T06:35:44Z- waiting for 1607495745.22, time is 1607495744.23 2020-12-09T06:35:44Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:44Z- AHRS_M2 msg: 1607495745.00 epoch sec; seqNo:873 2020-12-09T06:35:44Z- AHRS_M2 msg: 4.62 phi; -0.14 theta; -0.24 psi 2020-12-09T06:35:44Z- waiting for 1607495745.22, time is 1607495744.23 2020-12-09T06:35:44Z- sync is 0.76, coherence is 2.00 2020-12-09T06:35:44Z- handleDepth()-Depth_Keller msg: 46.91 epoch sec; seqNo:1607495745002; depth 0.00 2020-12-09T06:35:44Z- waiting for 1607495745.22, time is 1607495744.23 2020-12-09T06:35:44Z- sync is 0.76, coherence is 2.00 2020-12-09T06:35:44Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:44Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:44Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:44Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:35:44Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:35:44Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:35:44Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:35:44Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:35:44Z- handleDvl() - RDI_Pathfinder msg: 1607495745.00 epoch sec; seqNo:493 2020-12-09T06:35:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:35:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.06 , 0.10 2020-12-09T06:35:44Z- waiting for 1607495745.22, time is 1607495745.00 2020-12-09T06:35:44Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495745.01 epoch sec; seqNo:905; 4061665.28 north; 594397.89 east 2020-12-09T06:35:44Z- waiting for 1607495745.22, time is 1607495745.00 2020-12-09T06:35:44Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:45Z- AHRS_M2 msg: 1607495745.40 epoch sec; seqNo:874 2020-12-09T06:35:45Z- AHRS_M2 msg: 4.62 phi; -0.14 theta; -0.24 psi 2020-12-09T06:35:45Z- waiting for 1607495745.22, time is 1607495745.00 2020-12-09T06:35:45Z- sync is 0.39, coherence is 2.00 2020-12-09T06:35:45Z- handleDepth()-Depth_Keller msg: 46.99 epoch sec; seqNo:1607495745410; depth 0.00 2020-12-09T06:35:45Z- waiting for 1607495745.22, time is 1607495745.00 2020-12-09T06:35:45Z- sync is 0.39, coherence is 2.00 2020-12-09T06:35:45Z- handleDvl() - RDI_Pathfinder msg: 1607495745.43 epoch sec; seqNo:494 2020-12-09T06:35:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.47 , 43.88 , 32.32 , 42.01 2020-12-09T06:35:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , 0.00 , 0.09 2020-12-09T06:35:45Z- waiting for 1607495745.22, time is 1607495745.43 2020-12-09T06:35:45Z- sync is 0.03, coherence is 2.00 2020-12-09T06:35:45Z- LcmTrn::updateTrn() >>>> pose time 1607495745.40, meas time 1607495745.43 <<<< 2020-12-09T06:35:45Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495745.43 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:35:45Z- TerrainNav::motionUpdate() - currEstimate = (4061665, 594397.89, 46.99) 2020-12-09T06:35:45Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:35:45Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:35:45Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:35:45Z- TNavBF::mmse selected from filter -1 2020-12-09T06:35:45Z- variances([0], [2], and psi_berg) = 802.445495 833.108342 0.000000 2020-12-09T06:35:45Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:35:45Z- LcmTrn::cycle() - MLE : 4061634.78 594446.39 46.99 2020-12-09T06:35:45Z- LcmTrn::cycle() - MMSE : 4061665.28 594397.89 46.99 2020-12-09T06:35:45Z- LcmTrn::cycle() - COVAR: 802.45 833.11 42.00 0.00 2020-12-09T06:35:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495745.44 epoch sec; seqNo:906; 4061665.28 north; 594397.89 east 2020-12-09T06:35:45Z- waiting for 1607495748.43, time is 1607495745.43 2020-12-09T06:35:45Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:45Z- AHRS_M2 msg: 1607495745.80 epoch sec; seqNo:875 2020-12-09T06:35:45Z- AHRS_M2 msg: 4.62 phi; -0.14 theta; -0.24 psi 2020-12-09T06:35:45Z- waiting for 1607495748.43, time is 1607495745.43 2020-12-09T06:35:45Z- sync is 0.37, coherence is 2.00 2020-12-09T06:35:45Z- handleDepth()-Depth_Keller msg: 47.07 epoch sec; seqNo:1607495745806; depth 0.00 2020-12-09T06:35:45Z- waiting for 1607495748.43, time is 1607495745.43 2020-12-09T06:35:45Z- sync is 0.37, coherence is 2.00 2020-12-09T06:35:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495745.82 epoch sec; seqNo:907; 4061665.28 north; 594397.89 east 2020-12-09T06:35:45Z- waiting for 1607495748.43, time is 1607495745.43 2020-12-09T06:35:45Z- sync is 0.39, coherence is 2.00 2020-12-09T06:35:46Z- AHRS_M2 msg: 1607495746.21 epoch sec; seqNo:876 2020-12-09T06:35:46Z- AHRS_M2 msg: 4.62 phi; -0.14 theta; -0.24 psi 2020-12-09T06:35:46Z- waiting for 1607495748.43, time is 1607495745.43 2020-12-09T06:35:46Z- sync is 0.78, coherence is 2.00 2020-12-09T06:35:46Z- handleDepth()-Depth_Keller msg: 47.15 epoch sec; seqNo:1607495746218; depth 0.00 2020-12-09T06:35:46Z- waiting for 1607495748.43, time is 1607495745.43 2020-12-09T06:35:46Z- sync is 0.78, coherence is 2.00 2020-12-09T06:35:46Z- handleDvl() - RDI_Pathfinder msg: 1607495746.23 epoch sec; seqNo:495 2020-12-09T06:35:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.64 , 43.71 , 32.32 , 42.01 2020-12-09T06:35:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.03 , 0.07 2020-12-09T06:35:46Z- waiting for 1607495748.43, time is 1607495746.23 2020-12-09T06:35:46Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495746.24 epoch sec; seqNo:908; 4061665.27 north; 594396.67 east 2020-12-09T06:35:46Z- waiting for 1607495748.43, time is 1607495746.23 2020-12-09T06:35:46Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:46Z- AHRS_M2 msg: 1607495746.61 epoch sec; seqNo:877 2020-12-09T06:35:46Z- AHRS_M2 msg: 4.62 phi; -0.14 theta; -0.24 psi 2020-12-09T06:35:46Z- waiting for 1607495748.43, time is 1607495746.23 2020-12-09T06:35:46Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:46Z- handleDepth()-Depth_Keller msg: 47.24 epoch sec; seqNo:1607495746626; depth 0.00 2020-12-09T06:35:46Z- waiting for 1607495748.43, time is 1607495746.23 2020-12-09T06:35:46Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495746.64 epoch sec; seqNo:909; 4061665.27 north; 594396.67 east 2020-12-09T06:35:46Z- waiting for 1607495748.43, time is 1607495746.23 2020-12-09T06:35:46Z- sync is 0.41, coherence is 2.00 2020-12-09T06:35:46Z- AHRS_M2 msg: 1607495747.01 epoch sec; seqNo:878 2020-12-09T06:35:46Z- AHRS_M2 msg: 4.62 phi; -0.14 theta; -0.24 psi 2020-12-09T06:35:46Z- waiting for 1607495748.43, time is 1607495746.23 2020-12-09T06:35:46Z- sync is 0.78, coherence is 2.00 2020-12-09T06:35:46Z- handleDepth()-Depth_Keller msg: 47.31 epoch sec; seqNo:1607495747018; depth 0.00 2020-12-09T06:35:46Z- waiting for 1607495748.43, time is 1607495746.23 2020-12-09T06:35:46Z- sync is 0.78, coherence is 2.00 2020-12-09T06:35:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495747.04 epoch sec; seqNo:910; 4061665.27 north; 594396.67 east 2020-12-09T06:35:47Z- waiting for 1607495748.43, time is 1607495746.23 2020-12-09T06:35:47Z- sync is 0.81, coherence is 2.00 2020-12-09T06:35:47Z- AHRS_M2 msg: 1607495747.42 epoch sec; seqNo:879 2020-12-09T06:35:47Z- AHRS_M2 msg: 4.62 phi; -0.13 theta; -0.23 psi 2020-12-09T06:35:47Z- waiting for 1607495748.43, time is 1607495746.23 2020-12-09T06:35:47Z- sync is 1.19, coherence is 2.00 2020-12-09T06:35:47Z- handleDepth()-Depth_Keller msg: 47.39 epoch sec; seqNo:1607495747430; depth 0.00 2020-12-09T06:35:47Z- waiting for 1607495748.43, time is 1607495746.23 2020-12-09T06:35:47Z- sync is 1.19, coherence is 2.00 2020-12-09T06:35:47Z- handleDvl() - RDI_Pathfinder msg: 1607495747.45 epoch sec; seqNo:496 2020-12-09T06:35:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.64 , 43.03 , 32.15 , 41.50 2020-12-09T06:35:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.08 , 0.04 2020-12-09T06:35:47Z- waiting for 1607495748.43, time is 1607495747.45 2020-12-09T06:35:47Z- sync is 0.03, coherence is 2.00 2020-12-09T06:35:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495747.47 epoch sec; seqNo:911; 4061665.27 north; 594396.67 east 2020-12-09T06:35:47Z- waiting for 1607495748.43, time is 1607495747.45 2020-12-09T06:35:47Z- sync is 0.03, coherence is 2.00 2020-12-09T06:35:47Z- AHRS_M2 msg: 1607495747.82 epoch sec; seqNo:880 2020-12-09T06:35:47Z- AHRS_M2 msg: 4.62 phi; -0.13 theta; -0.23 psi 2020-12-09T06:35:47Z- waiting for 1607495748.43, time is 1607495747.45 2020-12-09T06:35:47Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:47Z- handleDepth()-Depth_Keller msg: 47.44 epoch sec; seqNo:1607495747826; depth 0.00 2020-12-09T06:35:47Z- waiting for 1607495748.43, time is 1607495747.45 2020-12-09T06:35:47Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495747.85 epoch sec; seqNo:912; 4061664.87 north; 594395.46 east 2020-12-09T06:35:47Z- waiting for 1607495748.43, time is 1607495747.45 2020-12-09T06:35:47Z- sync is 0.40, coherence is 2.00 2020-12-09T06:35:48Z- AHRS_M2 msg: 1607495748.23 epoch sec; seqNo:881 2020-12-09T06:35:48Z- AHRS_M2 msg: 4.63 phi; -0.13 theta; -0.23 psi 2020-12-09T06:35:48Z- waiting for 1607495748.43, time is 1607495747.45 2020-12-09T06:35:48Z- sync is 0.78, coherence is 2.00 2020-12-09T06:35:48Z- handleDepth()-Depth_Keller msg: 47.51 epoch sec; seqNo:1607495748238; depth 0.00 2020-12-09T06:35:48Z- waiting for 1607495748.43, time is 1607495747.45 2020-12-09T06:35:48Z- sync is 0.78, coherence is 2.00 2020-12-09T06:35:48Z- handleDvl() - RDI_Pathfinder msg: 1607495748.26 epoch sec; seqNo:497 2020-12-09T06:35:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.47 , 43.20 , 31.98 , 41.33 2020-12-09T06:35:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.08 , 0.03 2020-12-09T06:35:48Z- waiting for 1607495748.43, time is 1607495748.26 2020-12-09T06:35:48Z- sync is 0.03, coherence is 2.00 2020-12-09T06:35:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495748.28 epoch sec; seqNo:913; 4061664.87 north; 594395.46 east 2020-12-09T06:35:48Z- waiting for 1607495748.43, time is 1607495748.26 2020-12-09T06:35:48Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:48Z- AHRS_M2 msg: 1607495748.63 epoch sec; seqNo:882 2020-12-09T06:35:48Z- AHRS_M2 msg: 4.63 phi; -0.13 theta; -0.23 psi 2020-12-09T06:35:48Z- waiting for 1607495748.43, time is 1607495748.26 2020-12-09T06:35:48Z- sync is 0.37, coherence is 2.00 2020-12-09T06:35:48Z- handleDepth()-Depth_Keller msg: 47.58 epoch sec; seqNo:1607495748635; depth 0.00 2020-12-09T06:35:48Z- waiting for 1607495748.43, time is 1607495748.26 2020-12-09T06:35:48Z- sync is 0.37, coherence is 2.00 2020-12-09T06:35:48Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:48Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:48Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:48Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:35:48Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:35:48Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:35:48Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:35:48Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:35:48Z- handleDvl() - RDI_Pathfinder msg: 1607495748.64 epoch sec; seqNo:498 2020-12-09T06:35:48Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:35:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.08 , 0.03 2020-12-09T06:35:48Z- waiting for 1607495748.43, time is 1607495748.64 2020-12-09T06:35:48Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:48Z- LcmTrn::updateTrn() >>>> pose time 1607495748.63, meas time 1607495748.64 <<<< 2020-12-09T06:35:48Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495748.64, ping # 0. 2020-12-09T06:35:48Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495748.64 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:35:48Z- TerrainNav::motionUpdate() - currEstimate = (4061665, 594395.46, 47.58) 2020-12-09T06:35:48Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:35:48Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:35:48Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:35:48Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:35:48Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:35:48Z- TNavBF::mmse selected from filter -1 2020-12-09T06:35:48Z- variances([0], [2], and psi_berg) = 802.258082 833.107909 0.000000 2020-12-09T06:35:48Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:35:48Z- LcmTrn::cycle() - MLE : 4061634.37 594443.96 47.58 2020-12-09T06:35:48Z- LcmTrn::cycle() - MMSE : 4061664.87 594395.46 47.58 2020-12-09T06:35:48Z- LcmTrn::cycle() - COVAR: 802.26 833.11 42.13 0.00 2020-12-09T06:35:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495748.65 epoch sec; seqNo:914; 4061664.87 north; 594395.46 east 2020-12-09T06:35:48Z- waiting for 1607495751.64, time is 1607495748.64 2020-12-09T06:35:48Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:49Z- AHRS_M2 msg: 1607495749.04 epoch sec; seqNo:883 2020-12-09T06:35:49Z- AHRS_M2 msg: 4.63 phi; -0.13 theta; -0.23 psi 2020-12-09T06:35:49Z- waiting for 1607495751.64, time is 1607495748.64 2020-12-09T06:35:49Z- sync is 0.40, coherence is 2.00 2020-12-09T06:35:49Z- handleDepth()-Depth_Keller msg: 47.63 epoch sec; seqNo:1607495749042; depth 0.00 2020-12-09T06:35:49Z- waiting for 1607495751.64, time is 1607495748.64 2020-12-09T06:35:49Z- sync is 0.40, coherence is 2.00 2020-12-09T06:35:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495749.05 epoch sec; seqNo:915; 4061664.87 north; 594395.46 east 2020-12-09T06:35:49Z- waiting for 1607495751.64, time is 1607495748.64 2020-12-09T06:35:49Z- sync is 0.41, coherence is 2.00 2020-12-09T06:35:49Z- AHRS_M2 msg: 1607495749.44 epoch sec; seqNo:884 2020-12-09T06:35:49Z- AHRS_M2 msg: 4.63 phi; -0.13 theta; -0.22 psi 2020-12-09T06:35:49Z- waiting for 1607495751.64, time is 1607495748.64 2020-12-09T06:35:49Z- sync is 0.80, coherence is 2.00 2020-12-09T06:35:49Z- handleDepth()-Depth_Keller msg: 47.69 epoch sec; seqNo:1607495749461; depth 0.00 2020-12-09T06:35:49Z- waiting for 1607495751.64, time is 1607495748.64 2020-12-09T06:35:49Z- sync is 0.80, coherence is 2.00 2020-12-09T06:35:49Z- handleDvl() - RDI_Pathfinder msg: 1607495749.48 epoch sec; seqNo:499 2020-12-09T06:35:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.47 , 42.86 , 31.81 , 39.97 2020-12-09T06:35:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.07 , 0.01 2020-12-09T06:35:49Z- waiting for 1607495751.64, time is 1607495749.48 2020-12-09T06:35:49Z- sync is 0.04, coherence is 2.00 2020-12-09T06:35:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495749.49 epoch sec; seqNo:916; 4061664.86 north; 594394.24 east 2020-12-09T06:35:49Z- waiting for 1607495751.64, time is 1607495749.48 2020-12-09T06:35:49Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:49Z- AHRS_M2 msg: 1607495749.84 epoch sec; seqNo:885 2020-12-09T06:35:49Z- AHRS_M2 msg: 4.63 phi; -0.13 theta; -0.22 psi 2020-12-09T06:35:49Z- waiting for 1607495751.64, time is 1607495749.48 2020-12-09T06:35:49Z- sync is 0.36, coherence is 2.00 2020-12-09T06:35:49Z- handleDepth()-Depth_Keller msg: 47.74 epoch sec; seqNo:1607495749854; depth 0.00 2020-12-09T06:35:49Z- waiting for 1607495751.64, time is 1607495749.48 2020-12-09T06:35:49Z- sync is 0.36, coherence is 2.00 2020-12-09T06:35:49Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:49Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:49Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:49Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:35:49Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:35:49Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:35:49Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:35:49Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:35:49Z- handleDvl() - RDI_Pathfinder msg: 1607495749.86 epoch sec; seqNo:500 2020-12-09T06:35:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:35:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.07 , 0.01 2020-12-09T06:35:49Z- waiting for 1607495751.64, time is 1607495749.86 2020-12-09T06:35:49Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495749.88 epoch sec; seqNo:917; 4061664.86 north; 594394.24 east 2020-12-09T06:35:49Z- waiting for 1607495751.64, time is 1607495749.86 2020-12-09T06:35:49Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:50Z- handleDepth()-Depth_Keller msg: 47.78 epoch sec; seqNo:1607495750270; depth 0.00 2020-12-09T06:35:50Z- waiting for 1607495751.64, time is 1607495749.86 2020-12-09T06:35:50Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:50Z- handleDvl() - RDI_Pathfinder msg: 1607495750.29 epoch sec; seqNo:501 2020-12-09T06:35:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.13 , 42.52 , 31.47 , 40.14 2020-12-09T06:35:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.06 , -0.01 2020-12-09T06:35:50Z- waiting for 1607495751.64, time is 1607495750.29 2020-12-09T06:35:50Z- sync is 0.41, coherence is 2.00 2020-12-09T06:35:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495750.30 epoch sec; seqNo:918; 4061664.86 north; 594394.24 east 2020-12-09T06:35:50Z- waiting for 1607495751.64, time is 1607495750.29 2020-12-09T06:35:50Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:50Z- AHRS_M2 msg: 1607495750.66 epoch sec; seqNo:886 2020-12-09T06:35:50Z- AHRS_M2 msg: 4.63 phi; -0.13 theta; -0.22 psi 2020-12-09T06:35:50Z- waiting for 1607495751.64, time is 1607495750.29 2020-12-09T06:35:50Z- sync is 0.37, coherence is 2.00 2020-12-09T06:35:50Z- handleDepth()-Depth_Keller msg: 47.83 epoch sec; seqNo:1607495750664; depth 0.00 2020-12-09T06:35:50Z- waiting for 1607495751.64, time is 1607495750.29 2020-12-09T06:35:50Z- sync is 0.37, coherence is 2.00 2020-12-09T06:35:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495750.68 epoch sec; seqNo:919; 4061664.86 north; 594394.24 east 2020-12-09T06:35:50Z- waiting for 1607495751.64, time is 1607495750.29 2020-12-09T06:35:50Z- sync is 0.39, coherence is 2.00 2020-12-09T06:35:51Z- AHRS_M2 msg: 1607495751.06 epoch sec; seqNo:887 2020-12-09T06:35:51Z- AHRS_M2 msg: 4.64 phi; -0.13 theta; -0.22 psi 2020-12-09T06:35:51Z- waiting for 1607495751.64, time is 1607495750.29 2020-12-09T06:35:51Z- sync is 0.77, coherence is 2.00 2020-12-09T06:35:51Z- handleDepth()-Depth_Keller msg: 47.85 epoch sec; seqNo:1607495751070; depth 0.00 2020-12-09T06:35:51Z- waiting for 1607495751.64, time is 1607495750.29 2020-12-09T06:35:51Z- sync is 0.77, coherence is 2.00 2020-12-09T06:35:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495751.08 epoch sec; seqNo:920; 4061664.47 north; 594393.02 east 2020-12-09T06:35:51Z- waiting for 1607495751.64, time is 1607495750.29 2020-12-09T06:35:51Z- sync is 0.79, coherence is 2.00 2020-12-09T06:35:51Z- AHRS_M2 msg: 1607495751.46 epoch sec; seqNo:888 2020-12-09T06:35:51Z- AHRS_M2 msg: 4.64 phi; -0.13 theta; -0.22 psi 2020-12-09T06:35:51Z- waiting for 1607495751.64, time is 1607495750.29 2020-12-09T06:35:51Z- sync is 1.17, coherence is 2.00 2020-12-09T06:35:51Z- handleDepth()-Depth_Keller msg: 47.88 epoch sec; seqNo:1607495751464; depth 0.00 2020-12-09T06:35:51Z- waiting for 1607495751.64, time is 1607495750.29 2020-12-09T06:35:51Z- sync is 1.17, coherence is 2.00 2020-12-09T06:35:51Z- handleDvl() - RDI_Pathfinder msg: 1607495751.48 epoch sec; seqNo:502 2020-12-09T06:35:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.30 , 42.02 , 31.64 , 39.64 2020-12-09T06:35:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.04 , -0.04 2020-12-09T06:35:51Z- waiting for 1607495751.64, time is 1607495751.48 2020-12-09T06:35:51Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495751.50 epoch sec; seqNo:921; 4061664.47 north; 594393.02 east 2020-12-09T06:35:51Z- waiting for 1607495751.64, time is 1607495751.48 2020-12-09T06:35:51Z- sync is 0.03, coherence is 2.00 2020-12-09T06:35:51Z- AHRS_M2 msg: 1607495751.86 epoch sec; seqNo:889 2020-12-09T06:35:51Z- AHRS_M2 msg: 4.64 phi; -0.12 theta; -0.21 psi 2020-12-09T06:35:51Z- waiting for 1607495751.64, time is 1607495751.48 2020-12-09T06:35:51Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:51Z- handleDepth()-Depth_Keller msg: 47.93 epoch sec; seqNo:1607495751866; depth 0.00 2020-12-09T06:35:51Z- waiting for 1607495751.64, time is 1607495751.48 2020-12-09T06:35:51Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495751.88 epoch sec; seqNo:922; 4061664.47 north; 594393.02 east 2020-12-09T06:35:51Z- waiting for 1607495751.64, time is 1607495751.48 2020-12-09T06:35:51Z- sync is 0.40, coherence is 2.00 2020-12-09T06:35:52Z- AHRS_M2 msg: 1607495752.27 epoch sec; seqNo:890 2020-12-09T06:35:52Z- AHRS_M2 msg: 4.64 phi; -0.12 theta; -0.21 psi 2020-12-09T06:35:52Z- waiting for 1607495751.64, time is 1607495751.48 2020-12-09T06:35:52Z- sync is 0.79, coherence is 2.00 2020-12-09T06:35:52Z- handleDepth()-Depth_Keller msg: 47.93 epoch sec; seqNo:1607495752411; depth 0.00 2020-12-09T06:35:52Z- waiting for 1607495751.64, time is 1607495751.48 2020-12-09T06:35:52Z- sync is 0.79, coherence is 2.00 2020-12-09T06:35:52Z- handleDvl() - RDI_Pathfinder msg: 1607495752.42 epoch sec; seqNo:503 2020-12-09T06:35:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.13 , 40.66 , 31.30 , 39.47 2020-12-09T06:35:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.03 , -0.08 2020-12-09T06:35:52Z- waiting for 1607495751.64, time is 1607495752.42 2020-12-09T06:35:52Z- sync is 0.15, coherence is 2.00 2020-12-09T06:35:52Z- LcmTrn::updateTrn() >>>> pose time 1607495752.27, meas time 1607495752.42 <<<< 2020-12-09T06:35:52Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495752.42 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:35:52Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594393.02, 47.93) 2020-12-09T06:35:52Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:35:52Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:35:52Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:35:52Z- TNavBF::mmse selected from filter -1 2020-12-09T06:35:52Z- variances([0], [2], and psi_berg) = 802.071485 833.107480 0.000000 2020-12-09T06:35:52Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:35:52Z- LcmTrn::cycle() - MLE : 4061633.97 594441.52 47.93 2020-12-09T06:35:52Z- LcmTrn::cycle() - MMSE : 4061664.47 594393.02 47.93 2020-12-09T06:35:52Z- LcmTrn::cycle() - COVAR: 802.07 833.11 42.25 0.00 2020-12-09T06:35:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495752.44 epoch sec; seqNo:923; 4061664.47 north; 594393.02 east 2020-12-09T06:35:52Z- waiting for 1607495755.42, time is 1607495752.42 2020-12-09T06:35:52Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:52Z- AHRS_M2 msg: 1607495752.67 epoch sec; seqNo:891 2020-12-09T06:35:52Z- AHRS_M2 msg: 4.65 phi; -0.12 theta; -0.21 psi 2020-12-09T06:35:52Z- waiting for 1607495755.42, time is 1607495752.42 2020-12-09T06:35:52Z- sync is 0.25, coherence is 2.00 2020-12-09T06:35:52Z- handleDepth()-Depth_Keller msg: 47.95 epoch sec; seqNo:1607495752740; depth 0.00 2020-12-09T06:35:52Z- waiting for 1607495755.42, time is 1607495752.42 2020-12-09T06:35:52Z- sync is 0.25, coherence is 2.00 2020-12-09T06:35:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495752.77 epoch sec; seqNo:924; 4061664.45 north; 594391.80 east 2020-12-09T06:35:52Z- waiting for 1607495755.42, time is 1607495752.42 2020-12-09T06:35:52Z- sync is 0.35, coherence is 2.00 2020-12-09T06:35:53Z- AHRS_M2 msg: 1607495753.07 epoch sec; seqNo:892 2020-12-09T06:35:53Z- AHRS_M2 msg: 4.65 phi; -0.12 theta; -0.21 psi 2020-12-09T06:35:53Z- waiting for 1607495755.42, time is 1607495752.42 2020-12-09T06:35:53Z- sync is 0.65, coherence is 2.00 2020-12-09T06:35:53Z- handleDepth()-Depth_Keller msg: 47.98 epoch sec; seqNo:1607495753122; depth 0.00 2020-12-09T06:35:53Z- waiting for 1607495755.42, time is 1607495752.42 2020-12-09T06:35:53Z- sync is 0.65, coherence is 2.00 2020-12-09T06:35:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495753.13 epoch sec; seqNo:925; 4061664.45 north; 594391.80 east 2020-12-09T06:35:53Z- waiting for 1607495755.42, time is 1607495752.42 2020-12-09T06:35:53Z- sync is 0.71, coherence is 2.00 2020-12-09T06:35:53Z- AHRS_M2 msg: 1607495753.48 epoch sec; seqNo:893 2020-12-09T06:35:53Z- AHRS_M2 msg: 4.65 phi; -0.12 theta; -0.21 psi 2020-12-09T06:35:53Z- waiting for 1607495755.42, time is 1607495752.42 2020-12-09T06:35:53Z- sync is 1.05, coherence is 2.00 2020-12-09T06:35:53Z- handleDepth()-Depth_Keller msg: 48.00 epoch sec; seqNo:1607495753510; depth 0.00 2020-12-09T06:35:53Z- waiting for 1607495755.42, time is 1607495752.42 2020-12-09T06:35:53Z- sync is 1.05, coherence is 2.00 2020-12-09T06:35:53Z- handleDvl() - RDI_Pathfinder msg: 1607495753.53 epoch sec; seqNo:504 2020-12-09T06:35:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.96 , 40.31 , 31.13 , 39.12 2020-12-09T06:35:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.02 , -0.11 2020-12-09T06:35:53Z- waiting for 1607495755.42, time is 1607495753.53 2020-12-09T06:35:53Z- sync is 0.05, coherence is 2.00 2020-12-09T06:35:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495753.54 epoch sec; seqNo:926; 4061664.45 north; 594391.80 east 2020-12-09T06:35:53Z- waiting for 1607495755.42, time is 1607495753.53 2020-12-09T06:35:53Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:53Z- AHRS_M2 msg: 1607495753.88 epoch sec; seqNo:894 2020-12-09T06:35:53Z- AHRS_M2 msg: 4.66 phi; -0.12 theta; -0.20 psi 2020-12-09T06:35:53Z- waiting for 1607495755.42, time is 1607495753.53 2020-12-09T06:35:53Z- sync is 0.35, coherence is 2.00 2020-12-09T06:35:53Z- handleDepth()-Depth_Keller msg: 47.99 epoch sec; seqNo:1607495753888; depth 0.00 2020-12-09T06:35:53Z- waiting for 1607495755.42, time is 1607495753.53 2020-12-09T06:35:53Z- sync is 0.35, coherence is 2.00 2020-12-09T06:35:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495753.90 epoch sec; seqNo:927; 4061664.45 north; 594391.80 east 2020-12-09T06:35:53Z- waiting for 1607495755.42, time is 1607495753.53 2020-12-09T06:35:53Z- sync is 0.37, coherence is 2.00 2020-12-09T06:35:54Z- AHRS_M2 msg: 1607495754.29 epoch sec; seqNo:895 2020-12-09T06:35:54Z- AHRS_M2 msg: 4.66 phi; -0.12 theta; -0.20 psi 2020-12-09T06:35:54Z- waiting for 1607495755.42, time is 1607495753.53 2020-12-09T06:35:54Z- sync is 0.76, coherence is 2.00 2020-12-09T06:35:54Z- handleDepth()-Depth_Keller msg: 48.01 epoch sec; seqNo:1607495754303; depth 0.00 2020-12-09T06:35:54Z- waiting for 1607495755.42, time is 1607495753.53 2020-12-09T06:35:54Z- sync is 0.76, coherence is 2.00 2020-12-09T06:35:54Z- handleDvl() - RDI_Pathfinder msg: 1607495754.32 epoch sec; seqNo:505 2020-12-09T06:35:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.96 , 39.29 , 30.62 , 38.95 2020-12-09T06:35:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.02 , -0.13 2020-12-09T06:35:54Z- waiting for 1607495755.42, time is 1607495754.32 2020-12-09T06:35:54Z- sync is 0.03, coherence is 2.00 2020-12-09T06:35:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495754.33 epoch sec; seqNo:928; 4061664.44 north; 594390.58 east 2020-12-09T06:35:54Z- waiting for 1607495755.42, time is 1607495754.32 2020-12-09T06:35:54Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:54Z- AHRS_M2 msg: 1607495754.69 epoch sec; seqNo:896 2020-12-09T06:35:54Z- AHRS_M2 msg: 4.66 phi; -0.12 theta; -0.20 psi 2020-12-09T06:35:54Z- waiting for 1607495755.42, time is 1607495754.32 2020-12-09T06:35:54Z- sync is 0.37, coherence is 2.00 2020-12-09T06:35:54Z- handleDepth()-Depth_Keller msg: 48.01 epoch sec; seqNo:1607495754694; depth 0.00 2020-12-09T06:35:54Z- waiting for 1607495755.42, time is 1607495754.32 2020-12-09T06:35:54Z- sync is 0.37, coherence is 2.00 2020-12-09T06:35:54Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:54Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:54Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:54Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:35:54Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:35:54Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:35:54Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:35:54Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:35:54Z- handleDvl() - RDI_Pathfinder msg: 1607495754.70 epoch sec; seqNo:506 2020-12-09T06:35:54Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:35:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.02 , -0.13 2020-12-09T06:35:54Z- waiting for 1607495755.42, time is 1607495754.70 2020-12-09T06:35:54Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495754.71 epoch sec; seqNo:929; 4061664.44 north; 594390.58 east 2020-12-09T06:35:54Z- waiting for 1607495755.42, time is 1607495754.70 2020-12-09T06:35:54Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:55Z- AHRS_M2 msg: 1607495755.10 epoch sec; seqNo:897 2020-12-09T06:35:55Z- AHRS_M2 msg: 4.67 phi; -0.12 theta; -0.20 psi 2020-12-09T06:35:55Z- waiting for 1607495755.42, time is 1607495754.70 2020-12-09T06:35:55Z- sync is 0.40, coherence is 2.00 2020-12-09T06:35:55Z- handleDepth()-Depth_Keller msg: 48.02 epoch sec; seqNo:1607495755105; depth 0.00 2020-12-09T06:35:55Z- waiting for 1607495755.42, time is 1607495754.70 2020-12-09T06:35:55Z- sync is 0.40, coherence is 2.00 2020-12-09T06:35:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495755.12 epoch sec; seqNo:930; 4061664.06 north; 594390.58 east 2020-12-09T06:35:55Z- waiting for 1607495755.42, time is 1607495754.70 2020-12-09T06:35:55Z- sync is 0.42, coherence is 2.00 2020-12-09T06:35:55Z- AHRS_M2 msg: 1607495755.50 epoch sec; seqNo:898 2020-12-09T06:35:55Z- AHRS_M2 msg: 4.67 phi; -0.12 theta; -0.20 psi 2020-12-09T06:35:55Z- waiting for 1607495755.42, time is 1607495754.70 2020-12-09T06:35:55Z- sync is 0.80, coherence is 2.00 2020-12-09T06:35:55Z- handleDepth()-Depth_Keller msg: 48.03 epoch sec; seqNo:1607495755508; depth 0.00 2020-12-09T06:35:55Z- waiting for 1607495755.42, time is 1607495754.70 2020-12-09T06:35:55Z- sync is 0.80, coherence is 2.00 2020-12-09T06:35:55Z- handleDvl() - RDI_Pathfinder msg: 1607495755.52 epoch sec; seqNo:507 2020-12-09T06:35:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.62 , 38.44 , 30.79 , 38.28 2020-12-09T06:35:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.01 , -0.13 2020-12-09T06:35:55Z- waiting for 1607495755.42, time is 1607495755.52 2020-12-09T06:35:55Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:55Z- LcmTrn::updateTrn() >>>> pose time 1607495755.50, meas time 1607495755.52 <<<< 2020-12-09T06:35:55Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495755.52 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:35:55Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594390.58, 48.03) 2020-12-09T06:35:55Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:35:55Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:35:55Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:35:55Z- TNavBF::mmse selected from filter -1 2020-12-09T06:35:55Z- variances([0], [2], and psi_berg) = 801.885692 833.107056 0.000000 2020-12-09T06:35:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:35:55Z- LcmTrn::cycle() - MLE : 4061633.56 594439.08 48.03 2020-12-09T06:35:55Z- LcmTrn::cycle() - MMSE : 4061664.06 594390.58 48.03 2020-12-09T06:35:55Z- LcmTrn::cycle() - COVAR: 801.89 833.11 42.38 0.00 2020-12-09T06:35:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495755.53 epoch sec; seqNo:931; 4061664.06 north; 594390.58 east 2020-12-09T06:35:55Z- waiting for 1607495758.52, time is 1607495755.52 2020-12-09T06:35:55Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:55Z- AHRS_M2 msg: 1607495755.90 epoch sec; seqNo:899 2020-12-09T06:35:55Z- AHRS_M2 msg: 4.67 phi; -0.11 theta; -0.20 psi 2020-12-09T06:35:55Z- waiting for 1607495758.52, time is 1607495755.52 2020-12-09T06:35:55Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:55Z- handleDepth()-Depth_Keller msg: 48.05 epoch sec; seqNo:1607495755906; depth 0.00 2020-12-09T06:35:55Z- waiting for 1607495758.52, time is 1607495755.52 2020-12-09T06:35:55Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:55Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:55Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:55Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:55Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:35:55Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:35:55Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:35:55Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:35:55Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:35:55Z- handleDvl() - RDI_Pathfinder msg: 1607495755.91 epoch sec; seqNo:508 2020-12-09T06:35:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:35:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.01 , -0.13 2020-12-09T06:35:55Z- waiting for 1607495758.52, time is 1607495755.91 2020-12-09T06:35:55Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495755.93 epoch sec; seqNo:932; 4061664.05 north; 594389.36 east 2020-12-09T06:35:55Z- waiting for 1607495758.52, time is 1607495755.91 2020-12-09T06:35:55Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:56Z- AHRS_M2 msg: 1607495756.31 epoch sec; seqNo:900 2020-12-09T06:35:56Z- AHRS_M2 msg: 4.67 phi; -0.11 theta; -0.20 psi 2020-12-09T06:35:56Z- waiting for 1607495758.52, time is 1607495755.91 2020-12-09T06:35:56Z- sync is 0.40, coherence is 2.00 2020-12-09T06:35:56Z- handleDepth()-Depth_Keller msg: 48.04 epoch sec; seqNo:1607495756317; depth 0.00 2020-12-09T06:35:56Z- waiting for 1607495758.52, time is 1607495755.91 2020-12-09T06:35:56Z- sync is 0.40, coherence is 2.00 2020-12-09T06:35:56Z- handleDvl() - RDI_Pathfinder msg: 1607495756.33 epoch sec; seqNo:509 2020-12-09T06:35:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.62 , 38.44 , 30.45 , 38.10 2020-12-09T06:35:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , 0.03 , -0.09 2020-12-09T06:35:56Z- waiting for 1607495758.52, time is 1607495756.33 2020-12-09T06:35:56Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495756.36 epoch sec; seqNo:933; 4061664.05 north; 594389.36 east 2020-12-09T06:35:56Z- waiting for 1607495758.52, time is 1607495756.33 2020-12-09T06:35:56Z- sync is 0.03, coherence is 2.00 2020-12-09T06:35:56Z- AHRS_M2 msg: 1607495756.71 epoch sec; seqNo:901 2020-12-09T06:35:56Z- AHRS_M2 msg: 4.67 phi; -0.11 theta; -0.20 psi 2020-12-09T06:35:56Z- waiting for 1607495758.52, time is 1607495756.33 2020-12-09T06:35:56Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:56Z- handleDepth()-Depth_Keller msg: 48.07 epoch sec; seqNo:1607495756718; depth 0.00 2020-12-09T06:35:56Z- waiting for 1607495758.52, time is 1607495756.33 2020-12-09T06:35:56Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495756.73 epoch sec; seqNo:934; 4061664.05 north; 594389.36 east 2020-12-09T06:35:56Z- waiting for 1607495758.52, time is 1607495756.33 2020-12-09T06:35:56Z- sync is 0.40, coherence is 2.00 2020-12-09T06:35:57Z- AHRS_M2 msg: 1607495757.11 epoch sec; seqNo:902 2020-12-09T06:35:57Z- AHRS_M2 msg: 4.67 phi; -0.11 theta; -0.20 psi 2020-12-09T06:35:57Z- waiting for 1607495758.52, time is 1607495756.33 2020-12-09T06:35:57Z- sync is 0.78, coherence is 2.00 2020-12-09T06:35:57Z- handleDepth()-Depth_Keller msg: 48.08 epoch sec; seqNo:1607495757145; depth 0.00 2020-12-09T06:35:57Z- waiting for 1607495758.52, time is 1607495756.33 2020-12-09T06:35:57Z- sync is 0.78, coherence is 2.00 2020-12-09T06:35:57Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:57Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:57Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:35:57Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:35:57Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:35:57Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:35:57Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:35:57Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:35:57Z- handleDvl() - RDI_Pathfinder msg: 1607495757.15 epoch sec; seqNo:510 2020-12-09T06:35:57Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:35:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , 0.03 , -0.09 2020-12-09T06:35:57Z- waiting for 1607495758.52, time is 1607495757.15 2020-12-09T06:35:57Z- sync is 0.04, coherence is 2.00 2020-12-09T06:35:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495757.17 epoch sec; seqNo:935; 4061664.04 north; 594388.14 east 2020-12-09T06:35:57Z- waiting for 1607495758.52, time is 1607495757.15 2020-12-09T06:35:57Z- sync is 0.03, coherence is 2.00 2020-12-09T06:35:57Z- AHRS_M2 msg: 1607495757.52 epoch sec; seqNo:903 2020-12-09T06:35:57Z- AHRS_M2 msg: 4.67 phi; -0.11 theta; -0.20 psi 2020-12-09T06:35:57Z- waiting for 1607495758.52, time is 1607495757.15 2020-12-09T06:35:57Z- sync is 0.37, coherence is 2.00 2020-12-09T06:35:57Z- handleDepth()-Depth_Keller msg: 48.12 epoch sec; seqNo:1607495757525; depth 0.00 2020-12-09T06:35:57Z- waiting for 1607495758.52, time is 1607495757.15 2020-12-09T06:35:57Z- sync is 0.37, coherence is 2.00 2020-12-09T06:35:57Z- handleDvl() - RDI_Pathfinder msg: 1607495757.54 epoch sec; seqNo:511 2020-12-09T06:35:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.31 , 37.97 , 30.16 , 37.81 2020-12-09T06:35:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.11 , 0.05 , -0.05 2020-12-09T06:35:57Z- waiting for 1607495758.52, time is 1607495757.54 2020-12-09T06:35:57Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495757.57 epoch sec; seqNo:936; 4061664.04 north; 594388.14 east 2020-12-09T06:35:57Z- waiting for 1607495758.52, time is 1607495757.54 2020-12-09T06:35:57Z- sync is 0.03, coherence is 2.00 2020-12-09T06:35:57Z- AHRS_M2 msg: 1607495757.92 epoch sec; seqNo:904 2020-12-09T06:35:57Z- AHRS_M2 msg: 4.67 phi; -0.11 theta; -0.19 psi 2020-12-09T06:35:57Z- waiting for 1607495758.52, time is 1607495757.54 2020-12-09T06:35:57Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:57Z- handleDepth()-Depth_Keller msg: 48.15 epoch sec; seqNo:1607495757927; depth 0.00 2020-12-09T06:35:57Z- waiting for 1607495758.52, time is 1607495757.54 2020-12-09T06:35:57Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495757.94 epoch sec; seqNo:937; 4061664.02 north; 594386.92 east 2020-12-09T06:35:57Z- waiting for 1607495758.52, time is 1607495757.54 2020-12-09T06:35:57Z- sync is 0.40, coherence is 2.00 2020-12-09T06:35:58Z- AHRS_M2 msg: 1607495758.33 epoch sec; seqNo:905 2020-12-09T06:35:58Z- AHRS_M2 msg: 4.67 phi; -0.11 theta; -0.19 psi 2020-12-09T06:35:58Z- waiting for 1607495758.52, time is 1607495757.54 2020-12-09T06:35:58Z- sync is 0.79, coherence is 2.00 2020-12-09T06:35:58Z- handleDepth()-Depth_Keller msg: 48.18 epoch sec; seqNo:1607495758338; depth 0.00 2020-12-09T06:35:58Z- waiting for 1607495758.52, time is 1607495757.54 2020-12-09T06:35:58Z- sync is 0.79, coherence is 2.00 2020-12-09T06:35:58Z- handleDvl() - RDI_Pathfinder msg: 1607495758.36 epoch sec; seqNo:512 2020-12-09T06:35:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.16 , 37.05 , 30.16 , 37.35 2020-12-09T06:35:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.13 , 0.07 , 0.01 2020-12-09T06:35:58Z- waiting for 1607495758.52, time is 1607495758.36 2020-12-09T06:35:58Z- sync is 0.03, coherence is 2.00 2020-12-09T06:35:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495758.37 epoch sec; seqNo:938; 4061664.02 north; 594386.92 east 2020-12-09T06:35:58Z- waiting for 1607495758.52, time is 1607495758.36 2020-12-09T06:35:58Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:58Z- AHRS_M2 msg: 1607495758.73 epoch sec; seqNo:906 2020-12-09T06:35:58Z- AHRS_M2 msg: 4.67 phi; -0.11 theta; -0.19 psi 2020-12-09T06:35:58Z- waiting for 1607495758.52, time is 1607495758.36 2020-12-09T06:35:58Z- sync is 0.37, coherence is 2.00 2020-12-09T06:35:58Z- handleDepth()-Depth_Keller msg: 48.23 epoch sec; seqNo:1607495758735; depth 0.00 2020-12-09T06:35:58Z- waiting for 1607495758.52, time is 1607495758.36 2020-12-09T06:35:58Z- sync is 0.37, coherence is 2.00 2020-12-09T06:35:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495758.75 epoch sec; seqNo:939; 4061664.02 north; 594386.92 east 2020-12-09T06:35:58Z- waiting for 1607495758.52, time is 1607495758.36 2020-12-09T06:35:58Z- sync is 0.40, coherence is 2.00 2020-12-09T06:35:59Z- AHRS_M2 msg: 1607495759.14 epoch sec; seqNo:907 2020-12-09T06:35:59Z- AHRS_M2 msg: 4.67 phi; -0.11 theta; -0.19 psi 2020-12-09T06:35:59Z- waiting for 1607495758.52, time is 1607495758.36 2020-12-09T06:35:59Z- sync is 0.78, coherence is 2.00 2020-12-09T06:35:59Z- handleDepth()-Depth_Keller msg: 48.27 epoch sec; seqNo:1607495759145; depth 0.00 2020-12-09T06:35:59Z- waiting for 1607495758.52, time is 1607495758.36 2020-12-09T06:35:59Z- sync is 0.78, coherence is 2.00 2020-12-09T06:35:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495759.21 epoch sec; seqNo:940; 4061664.01 north; 594385.70 east 2020-12-09T06:35:59Z- waiting for 1607495758.52, time is 1607495758.36 2020-12-09T06:35:59Z- sync is 0.85, coherence is 2.00 2020-12-09T06:35:59Z- AHRS_M2 msg: 1607495759.54 epoch sec; seqNo:908 2020-12-09T06:35:59Z- AHRS_M2 msg: 4.67 phi; -0.11 theta; -0.19 psi 2020-12-09T06:35:59Z- waiting for 1607495758.52, time is 1607495758.36 2020-12-09T06:35:59Z- sync is 1.18, coherence is 2.00 2020-12-09T06:35:59Z- handleDepth()-Depth_Keller msg: 48.33 epoch sec; seqNo:1607495759546; depth 0.00 2020-12-09T06:35:59Z- waiting for 1607495758.52, time is 1607495758.36 2020-12-09T06:35:59Z- sync is 1.18, coherence is 2.00 2020-12-09T06:35:59Z- handleDvl() - RDI_Pathfinder msg: 1607495759.56 epoch sec; seqNo:513 2020-12-09T06:35:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 35.82 , 30.00 , 37.51 2020-12-09T06:35:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.11 , 0.07 , 0.05 2020-12-09T06:35:59Z- waiting for 1607495758.52, time is 1607495759.56 2020-12-09T06:35:59Z- sync is 0.02, coherence is 2.00 2020-12-09T06:35:59Z- LcmTrn::updateTrn() >>>> pose time 1607495759.54, meas time 1607495759.56 <<<< 2020-12-09T06:35:59Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495759.56 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:35:59Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594385.70, 48.33) 2020-12-09T06:35:59Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:35:59Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:35:59Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:35:59Z- TNavBF::mmse selected from filter -1 2020-12-09T06:35:59Z- variances([0], [2], and psi_berg) = 801.625608 833.106464 0.000000 2020-12-09T06:35:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:35:59Z- LcmTrn::cycle() - MLE : 4061633.51 594434.20 48.33 2020-12-09T06:35:59Z- LcmTrn::cycle() - MMSE : 4061664.01 594385.70 48.33 2020-12-09T06:35:59Z- LcmTrn::cycle() - COVAR: 801.63 833.11 42.63 0.00 2020-12-09T06:35:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495759.57 epoch sec; seqNo:941; 4061664.01 north; 594385.70 east 2020-12-09T06:35:59Z- waiting for 1607495762.56, time is 1607495759.56 2020-12-09T06:35:59Z- sync is 0.01, coherence is 2.00 2020-12-09T06:35:59Z- AHRS_M2 msg: 1607495759.94 epoch sec; seqNo:909 2020-12-09T06:35:59Z- AHRS_M2 msg: 4.67 phi; -0.11 theta; -0.19 psi 2020-12-09T06:35:59Z- waiting for 1607495762.56, time is 1607495759.56 2020-12-09T06:35:59Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:59Z- handleDepth()-Depth_Keller msg: 48.37 epoch sec; seqNo:1607495759953; depth 0.00 2020-12-09T06:35:59Z- waiting for 1607495762.56, time is 1607495759.56 2020-12-09T06:35:59Z- sync is 0.38, coherence is 2.00 2020-12-09T06:35:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495759.97 epoch sec; seqNo:942; 4061664.01 north; 594385.70 east 2020-12-09T06:35:59Z- waiting for 1607495762.56, time is 1607495759.56 2020-12-09T06:35:59Z- sync is 0.41, coherence is 2.00 2020-12-09T06:36:00Z- AHRS_M2 msg: 1607495760.34 epoch sec; seqNo:910 2020-12-09T06:36:00Z- AHRS_M2 msg: 4.67 phi; -0.12 theta; -0.19 psi 2020-12-09T06:36:00Z- waiting for 1607495762.56, time is 1607495759.56 2020-12-09T06:36:00Z- sync is 0.79, coherence is 2.00 2020-12-09T06:36:00Z- handleDepth()-Depth_Keller msg: 48.43 epoch sec; seqNo:1607495760363; depth 0.00 2020-12-09T06:36:00Z- waiting for 1607495762.56, time is 1607495759.56 2020-12-09T06:36:00Z- sync is 0.79, coherence is 2.00 2020-12-09T06:36:00Z- handleDvl() - RDI_Pathfinder msg: 1607495760.38 epoch sec; seqNo:514 2020-12-09T06:36:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.85 , 33.99 , 30.00 , 37.66 2020-12-09T06:36:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , 0.11 , 0.08 2020-12-09T06:36:00Z- waiting for 1607495762.56, time is 1607495760.38 2020-12-09T06:36:00Z- sync is 0.03, coherence is 2.00 2020-12-09T06:36:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495760.39 epoch sec; seqNo:943; 4061663.99 north; 594384.48 east 2020-12-09T06:36:00Z- waiting for 1607495762.56, time is 1607495760.38 2020-12-09T06:36:00Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:00Z- AHRS_M2 msg: 1607495760.75 epoch sec; seqNo:911 2020-12-09T06:36:00Z- AHRS_M2 msg: 4.67 phi; -0.12 theta; -0.19 psi 2020-12-09T06:36:00Z- waiting for 1607495762.56, time is 1607495760.38 2020-12-09T06:36:00Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:00Z- handleDepth()-Depth_Keller msg: 48.51 epoch sec; seqNo:1607495760758; depth 0.00 2020-12-09T06:36:00Z- waiting for 1607495762.56, time is 1607495760.38 2020-12-09T06:36:00Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:00Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:00Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:00Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:00Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:36:00Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:36:00Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:36:00Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:36:00Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:36:00Z- handleDvl() - RDI_Pathfinder msg: 1607495760.76 epoch sec; seqNo:515 2020-12-09T06:36:00Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:36:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , 0.11 , 0.08 2020-12-09T06:36:00Z- waiting for 1607495762.56, time is 1607495760.76 2020-12-09T06:36:00Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495760.77 epoch sec; seqNo:944; 4061663.99 north; 594384.48 east 2020-12-09T06:36:00Z- waiting for 1607495762.56, time is 1607495760.76 2020-12-09T06:36:00Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:01Z- AHRS_M2 msg: 1607495761.18 epoch sec; seqNo:912 2020-12-09T06:36:01Z- AHRS_M2 msg: 4.67 phi; -0.12 theta; -0.19 psi 2020-12-09T06:36:01Z- waiting for 1607495762.56, time is 1607495760.76 2020-12-09T06:36:01Z- sync is 0.42, coherence is 2.00 2020-12-09T06:36:01Z- handleDepth()-Depth_Keller msg: 48.58 epoch sec; seqNo:1607495761196; depth 0.00 2020-12-09T06:36:01Z- waiting for 1607495762.56, time is 1607495760.76 2020-12-09T06:36:01Z- sync is 0.42, coherence is 2.00 2020-12-09T06:36:01Z- handleDvl() - RDI_Pathfinder msg: 1607495761.22 epoch sec; seqNo:516 2020-12-09T06:36:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.70 , 33.53 , 30.00 , 36.74 2020-12-09T06:36:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.10 , 0.10 2020-12-09T06:36:01Z- waiting for 1607495762.56, time is 1607495761.22 2020-12-09T06:36:01Z- sync is 0.04, coherence is 2.00 2020-12-09T06:36:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495761.23 epoch sec; seqNo:945; 4061664.37 north; 594384.48 east 2020-12-09T06:36:01Z- waiting for 1607495762.56, time is 1607495761.22 2020-12-09T06:36:01Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:01Z- AHRS_M2 msg: 1607495761.56 epoch sec; seqNo:913 2020-12-09T06:36:01Z- AHRS_M2 msg: 4.67 phi; -0.12 theta; -0.19 psi 2020-12-09T06:36:01Z- waiting for 1607495762.56, time is 1607495761.22 2020-12-09T06:36:01Z- sync is 0.34, coherence is 2.00 2020-12-09T06:36:01Z- handleDepth()-Depth_Keller msg: 48.66 epoch sec; seqNo:1607495761563; depth 0.00 2020-12-09T06:36:01Z- waiting for 1607495762.56, time is 1607495761.22 2020-12-09T06:36:01Z- sync is 0.34, coherence is 2.00 2020-12-09T06:36:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495761.58 epoch sec; seqNo:946; 4061664.36 north; 594383.26 east 2020-12-09T06:36:01Z- waiting for 1607495762.56, time is 1607495761.22 2020-12-09T06:36:01Z- sync is 0.37, coherence is 2.00 2020-12-09T06:36:01Z- AHRS_M2 msg: 1607495761.96 epoch sec; seqNo:914 2020-12-09T06:36:01Z- AHRS_M2 msg: 4.67 phi; -0.12 theta; -0.19 psi 2020-12-09T06:36:01Z- waiting for 1607495762.56, time is 1607495761.22 2020-12-09T06:36:01Z- sync is 0.74, coherence is 2.00 2020-12-09T06:36:01Z- handleDepth()-Depth_Keller msg: 48.73 epoch sec; seqNo:1607495761974; depth 0.00 2020-12-09T06:36:01Z- waiting for 1607495762.56, time is 1607495761.22 2020-12-09T06:36:01Z- sync is 0.74, coherence is 2.00 2020-12-09T06:36:01Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:01Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:01Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:01Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:36:01Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:36:01Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:36:01Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:36:01Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:36:01Z- handleDvl() - RDI_Pathfinder msg: 1607495761.98 epoch sec; seqNo:517 2020-12-09T06:36:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:36:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.10 , 0.10 2020-12-09T06:36:01Z- waiting for 1607495762.56, time is 1607495761.98 2020-12-09T06:36:01Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495761.99 epoch sec; seqNo:947; 4061664.36 north; 594383.26 east 2020-12-09T06:36:01Z- waiting for 1607495762.56, time is 1607495761.98 2020-12-09T06:36:01Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:02Z- AHRS_M2 msg: 1607495762.36 epoch sec; seqNo:915 2020-12-09T06:36:02Z- AHRS_M2 msg: 4.67 phi; -0.12 theta; -0.19 psi 2020-12-09T06:36:02Z- waiting for 1607495762.56, time is 1607495761.98 2020-12-09T06:36:02Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:02Z- handleDepth()-Depth_Keller msg: 48.80 epoch sec; seqNo:1607495762378; depth 0.00 2020-12-09T06:36:02Z- waiting for 1607495762.56, time is 1607495761.98 2020-12-09T06:36:02Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:02Z- handleDvl() - RDI_Pathfinder msg: 1607495762.39 epoch sec; seqNo:518 2020-12-09T06:36:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.55 , 35.21 , 30.00 , 37.20 2020-12-09T06:36:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , 0.10 , 0.11 2020-12-09T06:36:02Z- waiting for 1607495762.56, time is 1607495762.39 2020-12-09T06:36:02Z- sync is 0.03, coherence is 2.00 2020-12-09T06:36:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495762.41 epoch sec; seqNo:948; 4061664.36 north; 594383.26 east 2020-12-09T06:36:02Z- waiting for 1607495762.56, time is 1607495762.39 2020-12-09T06:36:02Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:02Z- AHRS_M2 msg: 1607495762.77 epoch sec; seqNo:916 2020-12-09T06:36:02Z- AHRS_M2 msg: 4.67 phi; -0.12 theta; -0.20 psi 2020-12-09T06:36:02Z- waiting for 1607495762.56, time is 1607495762.39 2020-12-09T06:36:02Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:02Z- handleDepth()-Depth_Keller msg: 48.88 epoch sec; seqNo:1607495762776; depth 0.00 2020-12-09T06:36:02Z- waiting for 1607495762.56, time is 1607495762.39 2020-12-09T06:36:02Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495762.79 epoch sec; seqNo:949; 4061664.35 north; 594382.04 east 2020-12-09T06:36:02Z- waiting for 1607495762.56, time is 1607495762.39 2020-12-09T06:36:02Z- sync is 0.40, coherence is 2.00 2020-12-09T06:36:03Z- AHRS_M2 msg: 1607495763.20 epoch sec; seqNo:917 2020-12-09T06:36:03Z- AHRS_M2 msg: 4.67 phi; -0.12 theta; -0.20 psi 2020-12-09T06:36:03Z- waiting for 1607495762.56, time is 1607495762.39 2020-12-09T06:36:03Z- sync is 0.81, coherence is 2.00 2020-12-09T06:36:03Z- handleDepth()-Depth_Keller msg: 48.95 epoch sec; seqNo:1607495763207; depth 0.00 2020-12-09T06:36:03Z- waiting for 1607495762.56, time is 1607495762.39 2020-12-09T06:36:03Z- sync is 0.81, coherence is 2.00 2020-12-09T06:36:03Z- handleDvl() - RDI_Pathfinder msg: 1607495763.22 epoch sec; seqNo:519 2020-12-09T06:36:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.55 , 35.21 , 30.16 , 37.20 2020-12-09T06:36:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , 0.08 , 0.10 2020-12-09T06:36:03Z- waiting for 1607495762.56, time is 1607495763.22 2020-12-09T06:36:03Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:03Z- LcmTrn::updateTrn() >>>> pose time 1607495763.20, meas time 1607495763.22 <<<< 2020-12-09T06:36:03Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495763.22 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:36:03Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594382.04, 48.95) 2020-12-09T06:36:03Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:36:03Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:36:03Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:36:03Z- TNavBF::mmse selected from filter -1 2020-12-09T06:36:03Z- variances([0], [2], and psi_berg) = 801.401123 833.105956 0.000000 2020-12-09T06:36:03Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:36:03Z- LcmTrn::cycle() - MLE : 4061633.85 594430.54 48.95 2020-12-09T06:36:03Z- LcmTrn::cycle() - MMSE : 4061664.35 594382.04 48.95 2020-12-09T06:36:03Z- LcmTrn::cycle() - COVAR: 801.40 833.11 42.82 0.00 2020-12-09T06:36:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495763.25 epoch sec; seqNo:950; 4061664.35 north; 594382.04 east 2020-12-09T06:36:03Z- waiting for 1607495766.22, time is 1607495763.22 2020-12-09T06:36:03Z- sync is 0.03, coherence is 2.00 2020-12-09T06:36:03Z- AHRS_M2 msg: 1607495763.58 epoch sec; seqNo:918 2020-12-09T06:36:03Z- AHRS_M2 msg: 4.67 phi; -0.12 theta; -0.20 psi 2020-12-09T06:36:03Z- waiting for 1607495766.22, time is 1607495763.22 2020-12-09T06:36:03Z- sync is 0.36, coherence is 2.00 2020-12-09T06:36:03Z- handleDepth()-Depth_Keller msg: 49.04 epoch sec; seqNo:1607495763587; depth 0.00 2020-12-09T06:36:03Z- waiting for 1607495766.22, time is 1607495763.22 2020-12-09T06:36:03Z- sync is 0.36, coherence is 2.00 2020-12-09T06:36:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495763.61 epoch sec; seqNo:951; 4061664.35 north; 594382.04 east 2020-12-09T06:36:03Z- waiting for 1607495766.22, time is 1607495763.22 2020-12-09T06:36:03Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:03Z- AHRS_M2 msg: 1607495763.99 epoch sec; seqNo:919 2020-12-09T06:36:03Z- AHRS_M2 msg: 4.67 phi; -0.12 theta; -0.20 psi 2020-12-09T06:36:03Z- waiting for 1607495766.22, time is 1607495763.22 2020-12-09T06:36:03Z- sync is 0.77, coherence is 2.00 2020-12-09T06:36:03Z- handleDepth()-Depth_Keller msg: 49.11 epoch sec; seqNo:1607495763994; depth 0.00 2020-12-09T06:36:03Z- waiting for 1607495766.22, time is 1607495763.22 2020-12-09T06:36:03Z- sync is 0.77, coherence is 2.00 2020-12-09T06:36:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495764.01 epoch sec; seqNo:952; 4061664.35 north; 594382.04 east 2020-12-09T06:36:03Z- waiting for 1607495766.22, time is 1607495763.22 2020-12-09T06:36:03Z- sync is 0.79, coherence is 2.00 2020-12-09T06:36:04Z- AHRS_M2 msg: 1607495764.38 epoch sec; seqNo:920 2020-12-09T06:36:04Z- AHRS_M2 msg: 4.68 phi; -0.12 theta; -0.20 psi 2020-12-09T06:36:04Z- waiting for 1607495766.22, time is 1607495763.22 2020-12-09T06:36:04Z- sync is 1.16, coherence is 2.00 2020-12-09T06:36:04Z- handleDepth()-Depth_Keller msg: 49.19 epoch sec; seqNo:1607495764395; depth 0.00 2020-12-09T06:36:04Z- waiting for 1607495766.22, time is 1607495763.22 2020-12-09T06:36:04Z- sync is 1.16, coherence is 2.00 2020-12-09T06:36:04Z- handleDvl() - RDI_Pathfinder msg: 1607495764.41 epoch sec; seqNo:520 2020-12-09T06:36:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.39 , 36.28 , 30.00 , 37.20 2020-12-09T06:36:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , 0.06 , 0.07 2020-12-09T06:36:04Z- waiting for 1607495766.22, time is 1607495764.41 2020-12-09T06:36:04Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495764.42 epoch sec; seqNo:953; 4061664.33 north; 594380.82 east 2020-12-09T06:36:04Z- waiting for 1607495766.22, time is 1607495764.41 2020-12-09T06:36:04Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:04Z- AHRS_M2 msg: 1607495764.79 epoch sec; seqNo:921 2020-12-09T06:36:04Z- AHRS_M2 msg: 4.68 phi; -0.12 theta; -0.20 psi 2020-12-09T06:36:04Z- waiting for 1607495766.22, time is 1607495764.41 2020-12-09T06:36:04Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:04Z- handleDepth()-Depth_Keller msg: 49.24 epoch sec; seqNo:1607495764798; depth 0.00 2020-12-09T06:36:04Z- waiting for 1607495766.22, time is 1607495764.41 2020-12-09T06:36:04Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495764.82 epoch sec; seqNo:954; 4061664.33 north; 594380.82 east 2020-12-09T06:36:04Z- waiting for 1607495766.22, time is 1607495764.41 2020-12-09T06:36:04Z- sync is 0.41, coherence is 2.00 2020-12-09T06:36:05Z- AHRS_M2 msg: 1607495765.21 epoch sec; seqNo:922 2020-12-09T06:36:05Z- AHRS_M2 msg: 4.68 phi; -0.11 theta; -0.20 psi 2020-12-09T06:36:05Z- waiting for 1607495766.22, time is 1607495764.41 2020-12-09T06:36:05Z- sync is 0.80, coherence is 2.00 2020-12-09T06:36:05Z- handleDepth()-Depth_Keller msg: 49.31 epoch sec; seqNo:1607495765214; depth 0.00 2020-12-09T06:36:05Z- waiting for 1607495766.22, time is 1607495764.41 2020-12-09T06:36:05Z- sync is 0.80, coherence is 2.00 2020-12-09T06:36:05Z- handleDvl() - RDI_Pathfinder msg: 1607495765.23 epoch sec; seqNo:521 2020-12-09T06:36:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.24 , 36.28 , 30.16 , 36.59 2020-12-09T06:36:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , 0.02 , 0.04 2020-12-09T06:36:05Z- waiting for 1607495766.22, time is 1607495765.23 2020-12-09T06:36:05Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495765.24 epoch sec; seqNo:955; 4061664.33 north; 594380.82 east 2020-12-09T06:36:05Z- waiting for 1607495766.22, time is 1607495765.23 2020-12-09T06:36:05Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:05Z- AHRS_M2 msg: 1607495765.61 epoch sec; seqNo:923 2020-12-09T06:36:05Z- AHRS_M2 msg: 4.68 phi; -0.11 theta; -0.21 psi 2020-12-09T06:36:05Z- waiting for 1607495766.22, time is 1607495765.23 2020-12-09T06:36:05Z- sync is 0.37, coherence is 2.00 2020-12-09T06:36:05Z- handleDepth()-Depth_Keller msg: 49.38 epoch sec; seqNo:1607495765618; depth 0.00 2020-12-09T06:36:05Z- waiting for 1607495766.22, time is 1607495765.23 2020-12-09T06:36:05Z- sync is 0.37, coherence is 2.00 2020-12-09T06:36:05Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:05Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:05Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:05Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:36:05Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:36:05Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:36:05Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:36:05Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:36:05Z- handleDvl() - RDI_Pathfinder msg: 1607495765.62 epoch sec; seqNo:522 2020-12-09T06:36:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:36:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , 0.02 , 0.04 2020-12-09T06:36:05Z- waiting for 1607495766.22, time is 1607495765.62 2020-12-09T06:36:05Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495765.63 epoch sec; seqNo:956; 4061664.33 north; 594380.82 east 2020-12-09T06:36:05Z- waiting for 1607495766.22, time is 1607495765.62 2020-12-09T06:36:05Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:05Z- AHRS_M2 msg: 1607495766.00 epoch sec; seqNo:924 2020-12-09T06:36:05Z- AHRS_M2 msg: 4.68 phi; -0.11 theta; -0.21 psi 2020-12-09T06:36:05Z- waiting for 1607495766.22, time is 1607495765.62 2020-12-09T06:36:05Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:06Z- handleDepth()-Depth_Keller msg: 49.44 epoch sec; seqNo:1607495766155; depth 0.00 2020-12-09T06:36:06Z- waiting for 1607495766.22, time is 1607495765.62 2020-12-09T06:36:06Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:06Z- handleDvl() - RDI_Pathfinder msg: 1607495766.22 epoch sec; seqNo:523 2020-12-09T06:36:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.39 , 36.59 , 30.16 , 36.89 2020-12-09T06:36:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.00 , 0.01 2020-12-09T06:36:06Z- waiting for 1607495766.22, time is 1607495766.22 2020-12-09T06:36:06Z- sync is 0.22, coherence is 2.00 2020-12-09T06:36:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495766.24 epoch sec; seqNo:957; 4061664.32 north; 594379.60 east 2020-12-09T06:36:06Z- waiting for 1607495766.22, time is 1607495766.22 2020-12-09T06:36:06Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:06Z- AHRS_M2 msg: 1607495766.41 epoch sec; seqNo:925 2020-12-09T06:36:06Z- AHRS_M2 msg: 4.69 phi; -0.11 theta; -0.21 psi 2020-12-09T06:36:06Z- waiting for 1607495766.22, time is 1607495766.22 2020-12-09T06:36:06Z- sync is 0.19, coherence is 2.00 2020-12-09T06:36:06Z- handleDepth()-Depth_Keller msg: 49.53 epoch sec; seqNo:1607495766427; depth 0.00 2020-12-09T06:36:06Z- waiting for 1607495766.22, time is 1607495766.22 2020-12-09T06:36:06Z- sync is 0.19, coherence is 2.00 2020-12-09T06:36:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495766.46 epoch sec; seqNo:958; 4061664.32 north; 594379.60 east 2020-12-09T06:36:06Z- waiting for 1607495766.22, time is 1607495766.22 2020-12-09T06:36:06Z- sync is 0.25, coherence is 2.00 2020-12-09T06:36:06Z- AHRS_M2 msg: 1607495766.81 epoch sec; seqNo:926 2020-12-09T06:36:06Z- AHRS_M2 msg: 4.69 phi; -0.10 theta; -0.21 psi 2020-12-09T06:36:06Z- waiting for 1607495766.22, time is 1607495766.22 2020-12-09T06:36:06Z- sync is 0.59, coherence is 2.00 2020-12-09T06:36:06Z- handleDepth()-Depth_Keller msg: 49.54 epoch sec; seqNo:1607495766852; depth 0.00 2020-12-09T06:36:06Z- waiting for 1607495766.22, time is 1607495766.22 2020-12-09T06:36:06Z- sync is 0.59, coherence is 2.00 2020-12-09T06:36:06Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:06Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:06Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:06Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:36:06Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:36:06Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:36:06Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:36:06Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:36:06Z- handleDvl() - RDI_Pathfinder msg: 1607495766.85 epoch sec; seqNo:524 2020-12-09T06:36:06Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:36:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , -0.00 , 0.01 2020-12-09T06:36:06Z- waiting for 1607495766.22, time is 1607495766.85 2020-12-09T06:36:06Z- sync is 0.05, coherence is 2.00 2020-12-09T06:36:06Z- LcmTrn::updateTrn() >>>> pose time 1607495766.81, meas time 1607495766.85 <<<< 2020-12-09T06:36:06Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495766.85, ping # 0. 2020-12-09T06:36:06Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495766.85 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:36:06Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594379.60, 49.54) 2020-12-09T06:36:06Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:36:06Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:36:06Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:36:06Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:36:06Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:36:06Z- TNavBF::mmse selected from filter -1 2020-12-09T06:36:06Z- variances([0], [2], and psi_berg) = 801.219264 833.105547 0.000000 2020-12-09T06:36:06Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:36:06Z- LcmTrn::cycle() - MLE : 4061633.82 594428.10 49.54 2020-12-09T06:36:06Z- LcmTrn::cycle() - MMSE : 4061664.32 594379.60 49.54 2020-12-09T06:36:06Z- LcmTrn::cycle() - COVAR: 801.22 833.11 42.94 0.00 2020-12-09T06:36:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495766.86 epoch sec; seqNo:959; 4061664.32 north; 594379.60 east 2020-12-09T06:36:06Z- waiting for 1607495769.85, time is 1607495766.85 2020-12-09T06:36:06Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:07Z- AHRS_M2 msg: 1607495767.21 epoch sec; seqNo:927 2020-12-09T06:36:07Z- AHRS_M2 msg: 4.69 phi; -0.10 theta; -0.21 psi 2020-12-09T06:36:07Z- waiting for 1607495769.85, time is 1607495766.85 2020-12-09T06:36:07Z- sync is 0.36, coherence is 2.00 2020-12-09T06:36:07Z- handleDepth()-Depth_Keller msg: 49.58 epoch sec; seqNo:1607495767254; depth 0.00 2020-12-09T06:36:07Z- waiting for 1607495769.85, time is 1607495766.85 2020-12-09T06:36:07Z- sync is 0.36, coherence is 2.00 2020-12-09T06:36:07Z- handleDvl() - RDI_Pathfinder msg: 1607495767.28 epoch sec; seqNo:525 2020-12-09T06:36:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.09 , 36.28 , 30.16 , 36.59 2020-12-09T06:36:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.02 , -0.03 2020-12-09T06:36:07Z- waiting for 1607495769.85, time is 1607495767.28 2020-12-09T06:36:07Z- sync is 0.07, coherence is 2.00 2020-12-09T06:36:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495767.30 epoch sec; seqNo:960; 4061664.32 north; 594379.60 east 2020-12-09T06:36:07Z- waiting for 1607495769.85, time is 1607495767.28 2020-12-09T06:36:07Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:07Z- handleDepth()-Depth_Keller msg: 49.61 epoch sec; seqNo:1607495767646; depth 0.00 2020-12-09T06:36:07Z- waiting for 1607495769.85, time is 1607495767.28 2020-12-09T06:36:07Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495767.66 epoch sec; seqNo:961; 4061664.31 north; 594378.38 east 2020-12-09T06:36:07Z- waiting for 1607495769.85, time is 1607495767.28 2020-12-09T06:36:07Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:08Z- AHRS_M2 msg: 1607495768.03 epoch sec; seqNo:928 2020-12-09T06:36:08Z- AHRS_M2 msg: 4.69 phi; -0.09 theta; -0.21 psi 2020-12-09T06:36:08Z- waiting for 1607495769.85, time is 1607495767.28 2020-12-09T06:36:08Z- sync is 0.75, coherence is 2.00 2020-12-09T06:36:08Z- handleDepth()-Depth_Keller msg: 49.64 epoch sec; seqNo:1607495768034; depth 0.00 2020-12-09T06:36:08Z- waiting for 1607495769.85, time is 1607495767.28 2020-12-09T06:36:08Z- sync is 0.75, coherence is 2.00 2020-12-09T06:36:08Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:08Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:08Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:08Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:36:08Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:36:08Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:36:08Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:36:08Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:36:08Z- handleDvl() - RDI_Pathfinder msg: 1607495768.04 epoch sec; seqNo:526 2020-12-09T06:36:08Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:36:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.02 , -0.03 2020-12-09T06:36:08Z- waiting for 1607495769.85, time is 1607495768.04 2020-12-09T06:36:08Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495768.06 epoch sec; seqNo:962; 4061664.31 north; 594378.38 east 2020-12-09T06:36:08Z- waiting for 1607495769.85, time is 1607495768.04 2020-12-09T06:36:08Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:08Z- AHRS_M2 msg: 1607495768.44 epoch sec; seqNo:929 2020-12-09T06:36:08Z- AHRS_M2 msg: 4.70 phi; -0.08 theta; -0.21 psi 2020-12-09T06:36:08Z- waiting for 1607495769.85, time is 1607495768.04 2020-12-09T06:36:08Z- sync is 0.40, coherence is 2.00 2020-12-09T06:36:08Z- handleDepth()-Depth_Keller msg: 49.68 epoch sec; seqNo:1607495768441; depth 0.00 2020-12-09T06:36:08Z- waiting for 1607495769.85, time is 1607495768.04 2020-12-09T06:36:08Z- sync is 0.40, coherence is 2.00 2020-12-09T06:36:08Z- handleDvl() - RDI_Pathfinder msg: 1607495768.45 epoch sec; seqNo:527 2020-12-09T06:36:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.09 , 35.97 , 30.16 , 35.97 2020-12-09T06:36:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.04 , -0.05 2020-12-09T06:36:08Z- waiting for 1607495769.85, time is 1607495768.45 2020-12-09T06:36:08Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495768.48 epoch sec; seqNo:963; 4061664.31 north; 594378.38 east 2020-12-09T06:36:08Z- waiting for 1607495769.85, time is 1607495768.45 2020-12-09T06:36:08Z- sync is 0.03, coherence is 2.00 2020-12-09T06:36:08Z- AHRS_M2 msg: 1607495768.83 epoch sec; seqNo:930 2020-12-09T06:36:08Z- AHRS_M2 msg: 4.70 phi; -0.08 theta; -0.21 psi 2020-12-09T06:36:08Z- waiting for 1607495769.85, time is 1607495768.45 2020-12-09T06:36:08Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:08Z- handleDepth()-Depth_Keller msg: 49.71 epoch sec; seqNo:1607495768838; depth 0.00 2020-12-09T06:36:08Z- waiting for 1607495769.85, time is 1607495768.45 2020-12-09T06:36:08Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495768.85 epoch sec; seqNo:964; 4061664.31 north; 594378.38 east 2020-12-09T06:36:08Z- waiting for 1607495769.85, time is 1607495768.45 2020-12-09T06:36:08Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:09Z- AHRS_M2 msg: 1607495769.23 epoch sec; seqNo:931 2020-12-09T06:36:09Z- AHRS_M2 msg: 4.70 phi; -0.08 theta; -0.21 psi 2020-12-09T06:36:09Z- waiting for 1607495769.85, time is 1607495768.45 2020-12-09T06:36:09Z- sync is 0.78, coherence is 2.00 2020-12-09T06:36:09Z- handleDepth()-Depth_Keller msg: 49.73 epoch sec; seqNo:1607495769247; depth 0.00 2020-12-09T06:36:09Z- waiting for 1607495769.85, time is 1607495768.45 2020-12-09T06:36:09Z- sync is 0.78, coherence is 2.00 2020-12-09T06:36:09Z- handleDvl() - RDI_Pathfinder msg: 1607495769.26 epoch sec; seqNo:528 2020-12-09T06:36:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.93 , 35.82 , 30.31 , 35.06 2020-12-09T06:36:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.04 , -0.06 2020-12-09T06:36:09Z- waiting for 1607495769.85, time is 1607495769.26 2020-12-09T06:36:09Z- sync is 0.03, coherence is 2.00 2020-12-09T06:36:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495769.28 epoch sec; seqNo:965; 4061664.29 north; 594377.16 east 2020-12-09T06:36:09Z- waiting for 1607495769.85, time is 1607495769.26 2020-12-09T06:36:09Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:09Z- AHRS_M2 msg: 1607495769.64 epoch sec; seqNo:932 2020-12-09T06:36:09Z- AHRS_M2 msg: 4.70 phi; -0.07 theta; -0.21 psi 2020-12-09T06:36:09Z- waiting for 1607495769.85, time is 1607495769.26 2020-12-09T06:36:09Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:09Z- handleDepth()-Depth_Keller msg: 49.74 epoch sec; seqNo:1607495769651; depth 0.00 2020-12-09T06:36:09Z- waiting for 1607495769.85, time is 1607495769.26 2020-12-09T06:36:09Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495769.68 epoch sec; seqNo:966; 4061664.29 north; 594377.16 east 2020-12-09T06:36:09Z- waiting for 1607495769.85, time is 1607495769.26 2020-12-09T06:36:09Z- sync is 0.42, coherence is 2.00 2020-12-09T06:36:10Z- AHRS_M2 msg: 1607495770.04 epoch sec; seqNo:933 2020-12-09T06:36:10Z- AHRS_M2 msg: 4.70 phi; -0.07 theta; -0.21 psi 2020-12-09T06:36:10Z- waiting for 1607495769.85, time is 1607495769.26 2020-12-09T06:36:10Z- sync is 0.78, coherence is 2.00 2020-12-09T06:36:10Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1607495770046; depth 0.00 2020-12-09T06:36:10Z- waiting for 1607495769.85, time is 1607495769.26 2020-12-09T06:36:10Z- sync is 0.78, coherence is 2.00 2020-12-09T06:36:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495770.06 epoch sec; seqNo:967; 4061664.29 north; 594377.16 east 2020-12-09T06:36:10Z- waiting for 1607495769.85, time is 1607495769.26 2020-12-09T06:36:10Z- sync is 0.80, coherence is 2.00 2020-12-09T06:36:10Z- AHRS_M2 msg: 1607495770.45 epoch sec; seqNo:934 2020-12-09T06:36:10Z- AHRS_M2 msg: 4.70 phi; -0.06 theta; -0.21 psi 2020-12-09T06:36:10Z- waiting for 1607495769.85, time is 1607495769.26 2020-12-09T06:36:10Z- sync is 1.19, coherence is 2.00 2020-12-09T06:36:10Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1607495770456; depth 0.00 2020-12-09T06:36:10Z- waiting for 1607495769.85, time is 1607495769.26 2020-12-09T06:36:10Z- sync is 1.19, coherence is 2.00 2020-12-09T06:36:10Z- handleDvl() - RDI_Pathfinder msg: 1607495770.47 epoch sec; seqNo:529 2020-12-09T06:36:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.78 , 35.97 , 30.31 , 34.90 2020-12-09T06:36:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.04 , -0.07 2020-12-09T06:36:10Z- waiting for 1607495769.85, time is 1607495770.47 2020-12-09T06:36:10Z- sync is 0.03, coherence is 2.00 2020-12-09T06:36:10Z- LcmTrn::updateTrn() >>>> pose time 1607495770.45, meas time 1607495770.47 <<<< 2020-12-09T06:36:10Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495770.47 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:36:10Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594377.16, 49.76) 2020-12-09T06:36:10Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:36:10Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:36:10Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:36:10Z- TNavBF::mmse selected from filter -1 2020-12-09T06:36:10Z- variances([0], [2], and psi_berg) = 801.038159 833.105142 0.000000 2020-12-09T06:36:10Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:36:10Z- LcmTrn::cycle() - MLE : 4061633.79 594425.66 49.76 2020-12-09T06:36:10Z- LcmTrn::cycle() - MMSE : 4061664.29 594377.16 49.76 2020-12-09T06:36:10Z- LcmTrn::cycle() - COVAR: 801.04 833.11 43.07 0.00 2020-12-09T06:36:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495770.49 epoch sec; seqNo:968; 4061664.29 north; 594377.16 east 2020-12-09T06:36:10Z- waiting for 1607495773.47, time is 1607495770.47 2020-12-09T06:36:10Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:10Z- AHRS_M2 msg: 1607495770.85 epoch sec; seqNo:935 2020-12-09T06:36:10Z- AHRS_M2 msg: 4.70 phi; -0.06 theta; -0.21 psi 2020-12-09T06:36:10Z- waiting for 1607495773.47, time is 1607495770.47 2020-12-09T06:36:10Z- sync is 0.37, coherence is 2.00 2020-12-09T06:36:10Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1607495770854; depth 0.00 2020-12-09T06:36:10Z- waiting for 1607495773.47, time is 1607495770.47 2020-12-09T06:36:10Z- sync is 0.37, coherence is 2.00 2020-12-09T06:36:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495770.88 epoch sec; seqNo:969; 4061664.28 north; 594375.94 east 2020-12-09T06:36:10Z- waiting for 1607495773.47, time is 1607495770.47 2020-12-09T06:36:10Z- sync is 0.40, coherence is 2.00 2020-12-09T06:36:11Z- AHRS_M2 msg: 1607495771.25 epoch sec; seqNo:936 2020-12-09T06:36:11Z- AHRS_M2 msg: 4.70 phi; -0.06 theta; -0.21 psi 2020-12-09T06:36:11Z- waiting for 1607495773.47, time is 1607495770.47 2020-12-09T06:36:11Z- sync is 0.78, coherence is 2.00 2020-12-09T06:36:11Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1607495771266; depth 0.00 2020-12-09T06:36:11Z- waiting for 1607495773.47, time is 1607495770.47 2020-12-09T06:36:11Z- sync is 0.78, coherence is 2.00 2020-12-09T06:36:11Z- handleDvl() - RDI_Pathfinder msg: 1607495771.29 epoch sec; seqNo:530 2020-12-09T06:36:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.63 , 35.21 , 30.62 , 33.99 2020-12-09T06:36:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.02 , -0.08 2020-12-09T06:36:11Z- waiting for 1607495773.47, time is 1607495771.29 2020-12-09T06:36:11Z- sync is 0.04, coherence is 2.00 2020-12-09T06:36:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495771.30 epoch sec; seqNo:970; 4061663.90 north; 594375.94 east 2020-12-09T06:36:11Z- waiting for 1607495773.47, time is 1607495771.29 2020-12-09T06:36:11Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:11Z- AHRS_M2 msg: 1607495771.66 epoch sec; seqNo:937 2020-12-09T06:36:11Z- AHRS_M2 msg: 4.70 phi; -0.05 theta; -0.21 psi 2020-12-09T06:36:11Z- waiting for 1607495773.47, time is 1607495771.29 2020-12-09T06:36:11Z- sync is 0.37, coherence is 2.00 2020-12-09T06:36:11Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1607495771670; depth 0.00 2020-12-09T06:36:11Z- waiting for 1607495773.47, time is 1607495771.29 2020-12-09T06:36:11Z- sync is 0.37, coherence is 2.00 2020-12-09T06:36:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495771.68 epoch sec; seqNo:971; 4061663.90 north; 594375.94 east 2020-12-09T06:36:11Z- waiting for 1607495773.47, time is 1607495771.29 2020-12-09T06:36:11Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:12Z- AHRS_M2 msg: 1607495772.06 epoch sec; seqNo:938 2020-12-09T06:36:12Z- AHRS_M2 msg: 4.69 phi; -0.05 theta; -0.21 psi 2020-12-09T06:36:12Z- waiting for 1607495773.47, time is 1607495771.29 2020-12-09T06:36:12Z- sync is 0.77, coherence is 2.00 2020-12-09T06:36:12Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1607495772068; depth 0.00 2020-12-09T06:36:12Z- waiting for 1607495773.47, time is 1607495771.29 2020-12-09T06:36:12Z- sync is 0.77, coherence is 2.00 2020-12-09T06:36:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495772.08 epoch sec; seqNo:972; 4061663.89 north; 594374.72 east 2020-12-09T06:36:12Z- waiting for 1607495773.47, time is 1607495771.29 2020-12-09T06:36:12Z- sync is 0.79, coherence is 2.00 2020-12-09T06:36:12Z- AHRS_M2 msg: 1607495772.46 epoch sec; seqNo:939 2020-12-09T06:36:12Z- AHRS_M2 msg: 4.69 phi; -0.05 theta; -0.21 psi 2020-12-09T06:36:12Z- waiting for 1607495773.47, time is 1607495771.29 2020-12-09T06:36:12Z- sync is 1.17, coherence is 2.00 2020-12-09T06:36:12Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1607495772470; depth 0.00 2020-12-09T06:36:12Z- waiting for 1607495773.47, time is 1607495771.29 2020-12-09T06:36:12Z- sync is 1.17, coherence is 2.00 2020-12-09T06:36:12Z- handleDvl() - RDI_Pathfinder msg: 1607495772.49 epoch sec; seqNo:531 2020-12-09T06:36:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.32 , 35.06 , 30.31 , 33.07 2020-12-09T06:36:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.02 , -0.07 2020-12-09T06:36:12Z- waiting for 1607495773.47, time is 1607495772.49 2020-12-09T06:36:12Z- sync is 0.03, coherence is 2.00 2020-12-09T06:36:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495772.51 epoch sec; seqNo:973; 4061663.89 north; 594374.72 east 2020-12-09T06:36:12Z- waiting for 1607495773.47, time is 1607495772.49 2020-12-09T06:36:12Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:12Z- AHRS_M2 msg: 1607495772.87 epoch sec; seqNo:940 2020-12-09T06:36:12Z- AHRS_M2 msg: 4.69 phi; -0.04 theta; -0.21 psi 2020-12-09T06:36:12Z- waiting for 1607495773.47, time is 1607495772.49 2020-12-09T06:36:12Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:12Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1607495772874; depth 0.00 2020-12-09T06:36:12Z- waiting for 1607495773.47, time is 1607495772.49 2020-12-09T06:36:12Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495772.89 epoch sec; seqNo:974; 4061663.89 north; 594374.72 east 2020-12-09T06:36:12Z- waiting for 1607495773.47, time is 1607495772.49 2020-12-09T06:36:12Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:13Z- AHRS_M2 msg: 1607495773.28 epoch sec; seqNo:941 2020-12-09T06:36:13Z- AHRS_M2 msg: 4.69 phi; -0.04 theta; -0.21 psi 2020-12-09T06:36:13Z- waiting for 1607495773.47, time is 1607495772.49 2020-12-09T06:36:13Z- sync is 0.78, coherence is 2.00 2020-12-09T06:36:13Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1607495773285; depth 0.00 2020-12-09T06:36:13Z- waiting for 1607495773.47, time is 1607495772.49 2020-12-09T06:36:13Z- sync is 0.78, coherence is 2.00 2020-12-09T06:36:13Z- handleDvl() - RDI_Pathfinder msg: 1607495773.30 epoch sec; seqNo:532 2020-12-09T06:36:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.32 , 34.90 , 30.62 , 32.91 2020-12-09T06:36:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.04 , -0.07 2020-12-09T06:36:13Z- waiting for 1607495773.47, time is 1607495773.30 2020-12-09T06:36:13Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495773.31 epoch sec; seqNo:975; 4061663.87 north; 594373.50 east 2020-12-09T06:36:13Z- waiting for 1607495773.47, time is 1607495773.30 2020-12-09T06:36:13Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:13Z- AHRS_M2 msg: 1607495773.68 epoch sec; seqNo:942 2020-12-09T06:36:13Z- AHRS_M2 msg: 4.69 phi; -0.04 theta; -0.21 psi 2020-12-09T06:36:13Z- waiting for 1607495773.47, time is 1607495773.30 2020-12-09T06:36:13Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:13Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1607495773684; depth 0.00 2020-12-09T06:36:13Z- waiting for 1607495773.47, time is 1607495773.30 2020-12-09T06:36:13Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495773.70 epoch sec; seqNo:976; 4061663.87 north; 594373.50 east 2020-12-09T06:36:13Z- waiting for 1607495773.47, time is 1607495773.30 2020-12-09T06:36:13Z- sync is 0.40, coherence is 2.00 2020-12-09T06:36:14Z- AHRS_M2 msg: 1607495774.08 epoch sec; seqNo:943 2020-12-09T06:36:14Z- AHRS_M2 msg: 4.69 phi; -0.04 theta; -0.21 psi 2020-12-09T06:36:14Z- waiting for 1607495773.47, time is 1607495773.30 2020-12-09T06:36:14Z- sync is 0.78, coherence is 2.00 2020-12-09T06:36:14Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1607495774087; depth 0.00 2020-12-09T06:36:14Z- waiting for 1607495773.47, time is 1607495773.30 2020-12-09T06:36:14Z- sync is 0.78, coherence is 2.00 2020-12-09T06:36:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495774.11 epoch sec; seqNo:977; 4061663.87 north; 594373.50 east 2020-12-09T06:36:14Z- waiting for 1607495773.47, time is 1607495773.30 2020-12-09T06:36:14Z- sync is 0.81, coherence is 2.00 2020-12-09T06:36:14Z- AHRS_M2 msg: 1607495774.49 epoch sec; seqNo:944 2020-12-09T06:36:14Z- AHRS_M2 msg: 4.68 phi; -0.03 theta; -0.21 psi 2020-12-09T06:36:14Z- waiting for 1607495773.47, time is 1607495773.30 2020-12-09T06:36:14Z- sync is 1.19, coherence is 2.00 2020-12-09T06:36:14Z- handleDepth()-Depth_Keller msg: 49.74 epoch sec; seqNo:1607495774492; depth 0.00 2020-12-09T06:36:14Z- waiting for 1607495773.47, time is 1607495773.30 2020-12-09T06:36:14Z- sync is 1.19, coherence is 2.00 2020-12-09T06:36:14Z- handleDvl() - RDI_Pathfinder msg: 1607495774.50 epoch sec; seqNo:533 2020-12-09T06:36:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.32 , 34.14 , 31.23 , 32.76 2020-12-09T06:36:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , 0.06 , -0.05 2020-12-09T06:36:14Z- waiting for 1607495773.47, time is 1607495774.50 2020-12-09T06:36:14Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:14Z- LcmTrn::updateTrn() >>>> pose time 1607495774.49, meas time 1607495774.50 <<<< 2020-12-09T06:36:14Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495774.50 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:36:14Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594373.50, 49.74) 2020-12-09T06:36:14Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:36:14Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:36:14Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:36:14Z- TNavBF::mmse selected from filter -1 2020-12-09T06:36:14Z- variances([0], [2], and psi_berg) = 800.816671 833.104649 0.000000 2020-12-09T06:36:14Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:36:14Z- LcmTrn::cycle() - MLE : 4061634.37 594324.00 49.74 2020-12-09T06:36:14Z- LcmTrn::cycle() - MMSE : 4061663.87 594373.50 49.74 2020-12-09T06:36:14Z- LcmTrn::cycle() - COVAR: 800.82 833.10 43.25 0.00 2020-12-09T06:36:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495774.54 epoch sec; seqNo:978; 4061663.86 north; 594372.28 east 2020-12-09T06:36:14Z- waiting for 1607495777.50, time is 1607495774.50 2020-12-09T06:36:14Z- sync is 0.04, coherence is 2.00 2020-12-09T06:36:14Z- AHRS_M2 msg: 1607495774.89 epoch sec; seqNo:945 2020-12-09T06:36:14Z- AHRS_M2 msg: 4.68 phi; -0.03 theta; -0.21 psi 2020-12-09T06:36:14Z- waiting for 1607495777.50, time is 1607495774.50 2020-12-09T06:36:14Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:14Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1607495774894; depth 0.00 2020-12-09T06:36:14Z- waiting for 1607495777.50, time is 1607495774.50 2020-12-09T06:36:14Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495774.91 epoch sec; seqNo:979; 4061663.86 north; 594372.28 east 2020-12-09T06:36:14Z- waiting for 1607495777.50, time is 1607495774.50 2020-12-09T06:36:14Z- sync is 0.40, coherence is 2.00 2020-12-09T06:36:15Z- AHRS_M2 msg: 1607495775.30 epoch sec; seqNo:946 2020-12-09T06:36:15Z- AHRS_M2 msg: 4.68 phi; -0.03 theta; -0.21 psi 2020-12-09T06:36:15Z- waiting for 1607495777.50, time is 1607495774.50 2020-12-09T06:36:15Z- sync is 0.80, coherence is 2.00 2020-12-09T06:36:15Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1607495775306; depth 0.00 2020-12-09T06:36:15Z- waiting for 1607495777.50, time is 1607495774.50 2020-12-09T06:36:15Z- sync is 0.80, coherence is 2.00 2020-12-09T06:36:15Z- handleDvl() - RDI_Pathfinder msg: 1607495775.32 epoch sec; seqNo:534 2020-12-09T06:36:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.01 , 34.14 , 31.84 , 32.15 2020-12-09T06:36:15Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.08 , -0.04 2020-12-09T06:36:15Z- waiting for 1607495777.50, time is 1607495775.32 2020-12-09T06:36:15Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495775.33 epoch sec; seqNo:980; 4061663.86 north; 594372.28 east 2020-12-09T06:36:15Z- waiting for 1607495777.50, time is 1607495775.32 2020-12-09T06:36:15Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:15Z- AHRS_M2 msg: 1607495775.70 epoch sec; seqNo:947 2020-12-09T06:36:15Z- AHRS_M2 msg: 4.68 phi; -0.03 theta; -0.21 psi 2020-12-09T06:36:15Z- waiting for 1607495777.50, time is 1607495775.32 2020-12-09T06:36:15Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:15Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1607495775703; depth 0.00 2020-12-09T06:36:15Z- waiting for 1607495777.50, time is 1607495775.32 2020-12-09T06:36:15Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495775.73 epoch sec; seqNo:981; 4061664.23 north; 594371.05 east 2020-12-09T06:36:15Z- waiting for 1607495777.50, time is 1607495775.32 2020-12-09T06:36:15Z- sync is 0.41, coherence is 2.00 2020-12-09T06:36:16Z- AHRS_M2 msg: 1607495776.10 epoch sec; seqNo:948 2020-12-09T06:36:16Z- AHRS_M2 msg: 4.68 phi; -0.03 theta; -0.21 psi 2020-12-09T06:36:16Z- waiting for 1607495777.50, time is 1607495775.32 2020-12-09T06:36:16Z- sync is 0.78, coherence is 2.00 2020-12-09T06:36:16Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1607495776108; depth 0.00 2020-12-09T06:36:16Z- waiting for 1607495777.50, time is 1607495775.32 2020-12-09T06:36:16Z- sync is 0.78, coherence is 2.00 2020-12-09T06:36:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495776.12 epoch sec; seqNo:982; 4061664.23 north; 594371.05 east 2020-12-09T06:36:16Z- waiting for 1607495777.50, time is 1607495775.32 2020-12-09T06:36:16Z- sync is 0.80, coherence is 2.00 2020-12-09T06:36:16Z- AHRS_M2 msg: 1607495776.51 epoch sec; seqNo:949 2020-12-09T06:36:16Z- AHRS_M2 msg: 4.68 phi; -0.03 theta; -0.21 psi 2020-12-09T06:36:16Z- waiting for 1607495777.50, time is 1607495775.32 2020-12-09T06:36:16Z- sync is 1.19, coherence is 2.00 2020-12-09T06:36:16Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1607495776510; depth 0.00 2020-12-09T06:36:16Z- waiting for 1607495777.50, time is 1607495775.32 2020-12-09T06:36:16Z- sync is 1.19, coherence is 2.00 2020-12-09T06:36:16Z- handleDvl() - RDI_Pathfinder msg: 1607495776.53 epoch sec; seqNo:535 2020-12-09T06:36:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.71 , 34.44 , 31.69 , 32.15 2020-12-09T06:36:16Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.07 , -0.02 2020-12-09T06:36:16Z- waiting for 1607495777.50, time is 1607495776.53 2020-12-09T06:36:16Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495776.54 epoch sec; seqNo:983; 4061664.23 north; 594371.05 east 2020-12-09T06:36:16Z- waiting for 1607495777.50, time is 1607495776.53 2020-12-09T06:36:16Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:16Z- AHRS_M2 msg: 1607495776.91 epoch sec; seqNo:950 2020-12-09T06:36:16Z- AHRS_M2 msg: 4.67 phi; -0.03 theta; -0.21 psi 2020-12-09T06:36:16Z- waiting for 1607495777.50, time is 1607495776.53 2020-12-09T06:36:16Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:16Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1607495776926; depth 0.00 2020-12-09T06:36:16Z- waiting for 1607495777.50, time is 1607495776.53 2020-12-09T06:36:16Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495776.94 epoch sec; seqNo:984; 4061664.21 north; 594369.83 east 2020-12-09T06:36:16Z- waiting for 1607495777.50, time is 1607495776.53 2020-12-09T06:36:16Z- sync is 0.41, coherence is 2.00 2020-12-09T06:36:17Z- AHRS_M2 msg: 1607495777.31 epoch sec; seqNo:951 2020-12-09T06:36:17Z- AHRS_M2 msg: 4.67 phi; -0.03 theta; -0.21 psi 2020-12-09T06:36:17Z- waiting for 1607495777.50, time is 1607495776.53 2020-12-09T06:36:17Z- sync is 0.79, coherence is 2.00 2020-12-09T06:36:17Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1607495777318; depth 0.00 2020-12-09T06:36:17Z- waiting for 1607495777.50, time is 1607495776.53 2020-12-09T06:36:17Z- sync is 0.79, coherence is 2.00 2020-12-09T06:36:17Z- handleDvl() - RDI_Pathfinder msg: 1607495777.34 epoch sec; seqNo:536 2020-12-09T06:36:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.71 , 34.29 , 32.76 , 32.00 2020-12-09T06:36:17Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.09 , -0.01 2020-12-09T06:36:17Z- waiting for 1607495777.50, time is 1607495777.34 2020-12-09T06:36:17Z- sync is 0.03, coherence is 2.00 2020-12-09T06:36:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495777.35 epoch sec; seqNo:985; 4061664.21 north; 594369.83 east 2020-12-09T06:36:17Z- waiting for 1607495777.50, time is 1607495777.34 2020-12-09T06:36:17Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:17Z- AHRS_M2 msg: 1607495777.73 epoch sec; seqNo:952 2020-12-09T06:36:17Z- AHRS_M2 msg: 4.67 phi; -0.02 theta; -0.21 psi 2020-12-09T06:36:17Z- waiting for 1607495777.50, time is 1607495777.34 2020-12-09T06:36:17Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:17Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1607495777738; depth 0.00 2020-12-09T06:36:17Z- waiting for 1607495777.50, time is 1607495777.34 2020-12-09T06:36:17Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:17Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:17Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:17Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:17Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:36:17Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:36:17Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:36:17Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:36:17Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:36:17Z- handleDvl() - RDI_Pathfinder msg: 1607495777.74 epoch sec; seqNo:537 2020-12-09T06:36:17Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:36:17Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.09 , -0.01 2020-12-09T06:36:17Z- waiting for 1607495777.50, time is 1607495777.74 2020-12-09T06:36:17Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:17Z- LcmTrn::updateTrn() >>>> pose time 1607495777.73, meas time 1607495777.74 <<<< 2020-12-09T06:36:17Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495777.74, ping # 0. 2020-12-09T06:36:17Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495777.74 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:36:17Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594369.83, 49.83) 2020-12-09T06:36:17Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:36:17Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:36:17Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:36:17Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:36:17Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:36:17Z- TNavBF::mmse selected from filter -1 2020-12-09T06:36:17Z- variances([0], [2], and psi_berg) = 800.596297 833.104162 0.000000 2020-12-09T06:36:17Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:36:17Z- LcmTrn::cycle() - MLE : 4061634.71 594320.33 49.83 2020-12-09T06:36:17Z- LcmTrn::cycle() - MMSE : 4061664.21 594369.83 49.83 2020-12-09T06:36:17Z- LcmTrn::cycle() - COVAR: 800.60 833.10 43.44 0.00 2020-12-09T06:36:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495777.77 epoch sec; seqNo:986; 4061664.21 north; 594369.83 east 2020-12-09T06:36:17Z- waiting for 1607495780.74, time is 1607495777.74 2020-12-09T06:36:17Z- sync is 0.03, coherence is 2.00 2020-12-09T06:36:18Z- AHRS_M2 msg: 1607495778.12 epoch sec; seqNo:953 2020-12-09T06:36:18Z- AHRS_M2 msg: 4.67 phi; -0.02 theta; -0.22 psi 2020-12-09T06:36:18Z- waiting for 1607495780.74, time is 1607495777.74 2020-12-09T06:36:18Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:18Z- handleDepth()-Depth_Keller msg: 49.87 epoch sec; seqNo:1607495778127; depth 0.00 2020-12-09T06:36:18Z- waiting for 1607495780.74, time is 1607495777.74 2020-12-09T06:36:18Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495778.14 epoch sec; seqNo:987; 4061664.20 north; 594368.61 east 2020-12-09T06:36:18Z- waiting for 1607495780.74, time is 1607495777.74 2020-12-09T06:36:18Z- sync is 0.40, coherence is 2.00 2020-12-09T06:36:18Z- AHRS_M2 msg: 1607495778.53 epoch sec; seqNo:954 2020-12-09T06:36:18Z- AHRS_M2 msg: 4.67 phi; -0.02 theta; -0.21 psi 2020-12-09T06:36:18Z- waiting for 1607495780.74, time is 1607495777.74 2020-12-09T06:36:18Z- sync is 0.79, coherence is 2.00 2020-12-09T06:36:18Z- handleDepth()-Depth_Keller msg: 49.89 epoch sec; seqNo:1607495778548; depth 0.00 2020-12-09T06:36:18Z- waiting for 1607495780.74, time is 1607495777.74 2020-12-09T06:36:18Z- sync is 0.79, coherence is 2.00 2020-12-09T06:36:18Z- handleDvl() - RDI_Pathfinder msg: 1607495778.56 epoch sec; seqNo:538 2020-12-09T06:36:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.86 , 34.44 , 33.37 , 31.53 2020-12-09T06:36:18Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , 0.08 , 0.01 2020-12-09T06:36:18Z- waiting for 1607495780.74, time is 1607495778.56 2020-12-09T06:36:18Z- sync is 0.04, coherence is 2.00 2020-12-09T06:36:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495778.58 epoch sec; seqNo:988; 4061664.20 north; 594368.61 east 2020-12-09T06:36:18Z- waiting for 1607495780.74, time is 1607495778.56 2020-12-09T06:36:18Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:18Z- AHRS_M2 msg: 1607495778.93 epoch sec; seqNo:955 2020-12-09T06:36:18Z- AHRS_M2 msg: 4.66 phi; -0.02 theta; -0.22 psi 2020-12-09T06:36:18Z- waiting for 1607495780.74, time is 1607495778.56 2020-12-09T06:36:18Z- sync is 0.37, coherence is 2.00 2020-12-09T06:36:18Z- handleDepth()-Depth_Keller msg: 49.91 epoch sec; seqNo:1607495778934; depth 0.00 2020-12-09T06:36:18Z- waiting for 1607495780.74, time is 1607495778.56 2020-12-09T06:36:18Z- sync is 0.37, coherence is 2.00 2020-12-09T06:36:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495778.96 epoch sec; seqNo:989; 4061664.20 north; 594368.61 east 2020-12-09T06:36:18Z- waiting for 1607495780.74, time is 1607495778.56 2020-12-09T06:36:18Z- sync is 0.40, coherence is 2.00 2020-12-09T06:36:19Z- AHRS_M2 msg: 1607495779.33 epoch sec; seqNo:956 2020-12-09T06:36:19Z- AHRS_M2 msg: 4.66 phi; -0.02 theta; -0.22 psi 2020-12-09T06:36:19Z- waiting for 1607495780.74, time is 1607495778.56 2020-12-09T06:36:19Z- sync is 0.77, coherence is 2.00 2020-12-09T06:36:19Z- handleDepth()-Depth_Keller msg: 49.95 epoch sec; seqNo:1607495779407; depth 0.00 2020-12-09T06:36:19Z- waiting for 1607495780.74, time is 1607495778.56 2020-12-09T06:36:19Z- sync is 0.77, coherence is 2.00 2020-12-09T06:36:19Z- handleDvl() - RDI_Pathfinder msg: 1607495779.42 epoch sec; seqNo:539 2020-12-09T06:36:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.71 , 34.29 , 33.22 , 31.53 2020-12-09T06:36:19Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.08 , 0.03 2020-12-09T06:36:19Z- waiting for 1607495780.74, time is 1607495779.42 2020-12-09T06:36:19Z- sync is 0.09, coherence is 2.00 2020-12-09T06:36:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495779.44 epoch sec; seqNo:990; 4061664.19 north; 594367.39 east 2020-12-09T06:36:19Z- waiting for 1607495780.74, time is 1607495779.42 2020-12-09T06:36:19Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:19Z- AHRS_M2 msg: 1607495779.74 epoch sec; seqNo:957 2020-12-09T06:36:19Z- AHRS_M2 msg: 4.66 phi; -0.02 theta; -0.22 psi 2020-12-09T06:36:19Z- waiting for 1607495780.74, time is 1607495779.42 2020-12-09T06:36:19Z- sync is 0.32, coherence is 2.00 2020-12-09T06:36:19Z- handleDepth()-Depth_Keller msg: 49.99 epoch sec; seqNo:1607495779834; depth 0.00 2020-12-09T06:36:19Z- waiting for 1607495780.74, time is 1607495779.42 2020-12-09T06:36:19Z- sync is 0.32, coherence is 2.00 2020-12-09T06:36:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495779.87 epoch sec; seqNo:991; 4061664.19 north; 594367.39 east 2020-12-09T06:36:19Z- waiting for 1607495780.74, time is 1607495779.42 2020-12-09T06:36:19Z- sync is 0.45, coherence is 2.00 2020-12-09T06:36:20Z- AHRS_M2 msg: 1607495780.14 epoch sec; seqNo:958 2020-12-09T06:36:20Z- AHRS_M2 msg: 4.66 phi; -0.02 theta; -0.22 psi 2020-12-09T06:36:20Z- waiting for 1607495780.74, time is 1607495779.42 2020-12-09T06:36:20Z- sync is 0.73, coherence is 2.00 2020-12-09T06:36:20Z- handleDepth()-Depth_Keller msg: 50.03 epoch sec; seqNo:1607495780217; depth 0.00 2020-12-09T06:36:20Z- waiting for 1607495780.74, time is 1607495779.42 2020-12-09T06:36:20Z- sync is 0.73, coherence is 2.00 2020-12-09T06:36:20Z- handleDvl() - RDI_Pathfinder msg: 1607495780.25 epoch sec; seqNo:540 2020-12-09T06:36:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.86 , 34.29 , 34.75 , 31.38 2020-12-09T06:36:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.09 , 0.06 2020-12-09T06:36:20Z- waiting for 1607495780.74, time is 1607495780.25 2020-12-09T06:36:20Z- sync is 0.11, coherence is 2.00 2020-12-09T06:36:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495780.28 epoch sec; seqNo:992; 4061664.19 north; 594367.39 east 2020-12-09T06:36:20Z- waiting for 1607495780.74, time is 1607495780.25 2020-12-09T06:36:20Z- sync is 0.03, coherence is 2.00 2020-12-09T06:36:20Z- AHRS_M2 msg: 1607495780.54 epoch sec; seqNo:959 2020-12-09T06:36:20Z- AHRS_M2 msg: 4.66 phi; -0.02 theta; -0.22 psi 2020-12-09T06:36:20Z- waiting for 1607495780.74, time is 1607495780.25 2020-12-09T06:36:20Z- sync is 0.29, coherence is 2.00 2020-12-09T06:36:20Z- handleDepth()-Depth_Keller msg: 50.08 epoch sec; seqNo:1607495780582; depth 0.00 2020-12-09T06:36:20Z- waiting for 1607495780.74, time is 1607495780.25 2020-12-09T06:36:20Z- sync is 0.29, coherence is 2.00 2020-12-09T06:36:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495780.60 epoch sec; seqNo:993; 4061664.17 north; 594366.17 east 2020-12-09T06:36:20Z- waiting for 1607495780.74, time is 1607495780.25 2020-12-09T06:36:20Z- sync is 0.35, coherence is 2.00 2020-12-09T06:36:20Z- AHRS_M2 msg: 1607495780.95 epoch sec; seqNo:960 2020-12-09T06:36:20Z- AHRS_M2 msg: 4.65 phi; -0.02 theta; -0.22 psi 2020-12-09T06:36:20Z- waiting for 1607495780.74, time is 1607495780.25 2020-12-09T06:36:20Z- sync is 0.70, coherence is 2.00 2020-12-09T06:36:20Z- handleDepth()-Depth_Keller msg: 50.12 epoch sec; seqNo:1607495780974; depth 0.00 2020-12-09T06:36:20Z- waiting for 1607495780.74, time is 1607495780.25 2020-12-09T06:36:20Z- sync is 0.70, coherence is 2.00 2020-12-09T06:36:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495780.98 epoch sec; seqNo:994; 4061664.17 north; 594366.17 east 2020-12-09T06:36:20Z- waiting for 1607495780.74, time is 1607495780.25 2020-12-09T06:36:20Z- sync is 0.73, coherence is 2.00 2020-12-09T06:36:21Z- AHRS_M2 msg: 1607495781.35 epoch sec; seqNo:961 2020-12-09T06:36:21Z- AHRS_M2 msg: 4.65 phi; -0.02 theta; -0.21 psi 2020-12-09T06:36:21Z- waiting for 1607495780.74, time is 1607495780.25 2020-12-09T06:36:21Z- sync is 1.10, coherence is 2.00 2020-12-09T06:36:21Z- handleDepth()-Depth_Keller msg: 50.15 epoch sec; seqNo:1607495781367; depth 0.00 2020-12-09T06:36:21Z- waiting for 1607495780.74, time is 1607495780.25 2020-12-09T06:36:21Z- sync is 1.10, coherence is 2.00 2020-12-09T06:36:21Z- handleDvl() - RDI_Pathfinder msg: 1607495781.38 epoch sec; seqNo:541 2020-12-09T06:36:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.71 , 34.60 , 35.82 , 31.38 2020-12-09T06:36:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.08 , 0.07 2020-12-09T06:36:21Z- waiting for 1607495780.74, time is 1607495781.38 2020-12-09T06:36:21Z- sync is 0.03, coherence is 2.00 2020-12-09T06:36:21Z- LcmTrn::updateTrn() >>>> pose time 1607495781.35, meas time 1607495781.38 <<<< 2020-12-09T06:36:21Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495781.38 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:36:21Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594366.17, 50.15) 2020-12-09T06:36:21Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:36:21Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:36:21Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:36:21Z- TNavBF::mmse selected from filter -1 2020-12-09T06:36:21Z- variances([0], [2], and psi_berg) = 800.377604 833.103680 0.000000 2020-12-09T06:36:21Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:36:21Z- LcmTrn::cycle() - MLE : 4061634.67 594316.67 50.15 2020-12-09T06:36:21Z- LcmTrn::cycle() - MMSE : 4061664.17 594366.17 50.15 2020-12-09T06:36:21Z- LcmTrn::cycle() - COVAR: 800.38 833.10 43.63 0.00 2020-12-09T06:36:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495781.39 epoch sec; seqNo:995; 4061664.17 north; 594366.17 east 2020-12-09T06:36:21Z- waiting for 1607495784.38, time is 1607495781.38 2020-12-09T06:36:21Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:21Z- AHRS_M2 msg: 1607495781.76 epoch sec; seqNo:962 2020-12-09T06:36:21Z- AHRS_M2 msg: 4.65 phi; -0.01 theta; -0.21 psi 2020-12-09T06:36:21Z- waiting for 1607495784.38, time is 1607495781.38 2020-12-09T06:36:21Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:21Z- handleDepth()-Depth_Keller msg: 50.19 epoch sec; seqNo:1607495781766; depth 0.00 2020-12-09T06:36:21Z- waiting for 1607495784.38, time is 1607495781.38 2020-12-09T06:36:21Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495781.79 epoch sec; seqNo:996; 4061664.17 north; 594366.17 east 2020-12-09T06:36:21Z- waiting for 1607495784.38, time is 1607495781.38 2020-12-09T06:36:21Z- sync is 0.41, coherence is 2.00 2020-12-09T06:36:22Z- AHRS_M2 msg: 1607495782.18 epoch sec; seqNo:963 2020-12-09T06:36:22Z- AHRS_M2 msg: 4.65 phi; -0.01 theta; -0.21 psi 2020-12-09T06:36:22Z- waiting for 1607495784.38, time is 1607495781.38 2020-12-09T06:36:22Z- sync is 0.80, coherence is 2.00 2020-12-09T06:36:22Z- handleDepth()-Depth_Keller msg: 50.23 epoch sec; seqNo:1607495782201; depth 0.00 2020-12-09T06:36:22Z- waiting for 1607495784.38, time is 1607495781.38 2020-12-09T06:36:22Z- sync is 0.80, coherence is 2.00 2020-12-09T06:36:22Z- handleDvl() - RDI_Pathfinder msg: 1607495782.21 epoch sec; seqNo:542 2020-12-09T06:36:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.71 , 34.60 , 36.43 , 31.38 2020-12-09T06:36:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , 0.06 , 0.07 2020-12-09T06:36:22Z- waiting for 1607495784.38, time is 1607495782.21 2020-12-09T06:36:22Z- sync is 0.03, coherence is 2.00 2020-12-09T06:36:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495782.23 epoch sec; seqNo:997; 4061664.16 north; 594364.95 east 2020-12-09T06:36:22Z- waiting for 1607495784.38, time is 1607495782.21 2020-12-09T06:36:22Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:22Z- AHRS_M2 msg: 1607495782.57 epoch sec; seqNo:964 2020-12-09T06:36:22Z- AHRS_M2 msg: 4.65 phi; -0.01 theta; -0.21 psi 2020-12-09T06:36:22Z- waiting for 1607495784.38, time is 1607495782.21 2020-12-09T06:36:22Z- sync is 0.35, coherence is 2.00 2020-12-09T06:36:22Z- handleDepth()-Depth_Keller msg: 50.27 epoch sec; seqNo:1607495782573; depth 0.00 2020-12-09T06:36:22Z- waiting for 1607495784.38, time is 1607495782.21 2020-12-09T06:36:22Z- sync is 0.35, coherence is 2.00 2020-12-09T06:36:22Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:22Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:22Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:22Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:36:22Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:36:22Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:36:22Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:36:22Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:36:22Z- handleDvl() - RDI_Pathfinder msg: 1607495782.58 epoch sec; seqNo:543 2020-12-09T06:36:22Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:36:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , 0.06 , 0.07 2020-12-09T06:36:22Z- waiting for 1607495784.38, time is 1607495782.58 2020-12-09T06:36:22Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495782.59 epoch sec; seqNo:998; 4061664.16 north; 594364.95 east 2020-12-09T06:36:22Z- waiting for 1607495784.38, time is 1607495782.58 2020-12-09T06:36:22Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:22Z- AHRS_M2 msg: 1607495782.97 epoch sec; seqNo:965 2020-12-09T06:36:22Z- AHRS_M2 msg: 4.65 phi; -0.01 theta; -0.21 psi 2020-12-09T06:36:22Z- waiting for 1607495784.38, time is 1607495782.58 2020-12-09T06:36:22Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:22Z- handleDepth()-Depth_Keller msg: 50.29 epoch sec; seqNo:1607495782978; depth 0.00 2020-12-09T06:36:22Z- waiting for 1607495784.38, time is 1607495782.58 2020-12-09T06:36:22Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495782.99 epoch sec; seqNo:999; 4061664.16 north; 594364.95 east 2020-12-09T06:36:22Z- waiting for 1607495784.38, time is 1607495782.58 2020-12-09T06:36:22Z- sync is 0.42, coherence is 2.00 2020-12-09T06:36:23Z- AHRS_M2 msg: 1607495783.37 epoch sec; seqNo:966 2020-12-09T06:36:23Z- AHRS_M2 msg: 4.65 phi; -0.01 theta; -0.21 psi 2020-12-09T06:36:23Z- waiting for 1607495784.38, time is 1607495782.58 2020-12-09T06:36:23Z- sync is 0.80, coherence is 2.00 2020-12-09T06:36:23Z- handleDepth()-Depth_Keller msg: 50.34 epoch sec; seqNo:1607495783378; depth 0.00 2020-12-09T06:36:23Z- waiting for 1607495784.38, time is 1607495782.58 2020-12-09T06:36:23Z- sync is 0.80, coherence is 2.00 2020-12-09T06:36:23Z- handleDvl() - RDI_Pathfinder msg: 1607495783.39 epoch sec; seqNo:544 2020-12-09T06:36:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.01 , 34.60 , 36.59 , 31.38 2020-12-09T06:36:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , 0.06 , 0.07 2020-12-09T06:36:23Z- waiting for 1607495784.38, time is 1607495783.39 2020-12-09T06:36:23Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495783.42 epoch sec; seqNo:1000; 4061664.15 north; 594363.73 east 2020-12-09T06:36:23Z- waiting for 1607495784.38, time is 1607495783.39 2020-12-09T06:36:23Z- sync is 0.03, coherence is 2.00 2020-12-09T06:36:23Z- AHRS_M2 msg: 1607495783.78 epoch sec; seqNo:967 2020-12-09T06:36:23Z- AHRS_M2 msg: 4.65 phi; -0.01 theta; -0.21 psi 2020-12-09T06:36:23Z- waiting for 1607495784.38, time is 1607495783.39 2020-12-09T06:36:23Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:23Z- handleDepth()-Depth_Keller msg: 50.36 epoch sec; seqNo:1607495783782; depth 0.00 2020-12-09T06:36:23Z- waiting for 1607495784.38, time is 1607495783.39 2020-12-09T06:36:23Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:23Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:23Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:23Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:23Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:36:23Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:36:23Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:36:23Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:36:23Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:36:23Z- handleDvl() - RDI_Pathfinder msg: 1607495783.78 epoch sec; seqNo:545 2020-12-09T06:36:23Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:36:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , 0.06 , 0.07 2020-12-09T06:36:23Z- waiting for 1607495784.38, time is 1607495783.78 2020-12-09T06:36:23Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495783.80 epoch sec; seqNo:1001; 4061664.15 north; 594363.73 east 2020-12-09T06:36:23Z- waiting for 1607495784.38, time is 1607495783.78 2020-12-09T06:36:23Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:24Z- AHRS_M2 msg: 1607495784.20 epoch sec; seqNo:968 2020-12-09T06:36:24Z- AHRS_M2 msg: 4.65 phi; -0.01 theta; -0.21 psi 2020-12-09T06:36:24Z- waiting for 1607495784.38, time is 1607495783.78 2020-12-09T06:36:24Z- sync is 0.42, coherence is 2.00 2020-12-09T06:36:24Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1607495784207; depth 0.00 2020-12-09T06:36:24Z- waiting for 1607495784.38, time is 1607495783.78 2020-12-09T06:36:24Z- sync is 0.42, coherence is 2.00 2020-12-09T06:36:24Z- handleDvl() - RDI_Pathfinder msg: 1607495784.22 epoch sec; seqNo:546 2020-12-09T06:36:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.01 , 34.75 , 37.51 , 31.38 2020-12-09T06:36:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , 0.03 , 0.06 2020-12-09T06:36:24Z- waiting for 1607495784.38, time is 1607495784.22 2020-12-09T06:36:24Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495784.26 epoch sec; seqNo:1002; 4061664.15 north; 594363.73 east 2020-12-09T06:36:24Z- waiting for 1607495784.38, time is 1607495784.22 2020-12-09T06:36:24Z- sync is 0.04, coherence is 2.00 2020-12-09T06:36:24Z- AHRS_M2 msg: 1607495784.59 epoch sec; seqNo:969 2020-12-09T06:36:24Z- AHRS_M2 msg: 4.66 phi; -0.01 theta; -0.21 psi 2020-12-09T06:36:24Z- waiting for 1607495784.38, time is 1607495784.22 2020-12-09T06:36:24Z- sync is 0.37, coherence is 2.00 2020-12-09T06:36:24Z- handleDepth()-Depth_Keller msg: 50.41 epoch sec; seqNo:1607495784600; depth 0.00 2020-12-09T06:36:24Z- waiting for 1607495784.38, time is 1607495784.22 2020-12-09T06:36:24Z- sync is 0.37, coherence is 2.00 2020-12-09T06:36:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495784.62 epoch sec; seqNo:1003; 4061664.15 north; 594363.73 east 2020-12-09T06:36:24Z- waiting for 1607495784.38, time is 1607495784.22 2020-12-09T06:36:24Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:24Z- AHRS_M2 msg: 1607495784.99 epoch sec; seqNo:970 2020-12-09T06:36:24Z- AHRS_M2 msg: 4.66 phi; -0.00 theta; -0.21 psi 2020-12-09T06:36:24Z- waiting for 1607495784.38, time is 1607495784.22 2020-12-09T06:36:24Z- sync is 0.77, coherence is 2.00 2020-12-09T06:36:24Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1607495784995; depth 0.00 2020-12-09T06:36:24Z- waiting for 1607495784.38, time is 1607495784.22 2020-12-09T06:36:24Z- sync is 0.77, coherence is 2.00 2020-12-09T06:36:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495785.02 epoch sec; seqNo:1004; 4061664.13 north; 594362.51 east 2020-12-09T06:36:24Z- waiting for 1607495784.38, time is 1607495784.22 2020-12-09T06:36:24Z- sync is 0.80, coherence is 2.00 2020-12-09T06:36:25Z- AHRS_M2 msg: 1607495785.40 epoch sec; seqNo:971 2020-12-09T06:36:25Z- AHRS_M2 msg: 4.66 phi; -0.00 theta; -0.21 psi 2020-12-09T06:36:25Z- waiting for 1607495784.38, time is 1607495784.22 2020-12-09T06:36:25Z- sync is 1.18, coherence is 2.00 2020-12-09T06:36:25Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1607495785404; depth 0.00 2020-12-09T06:36:25Z- waiting for 1607495784.38, time is 1607495784.22 2020-12-09T06:36:25Z- sync is 1.18, coherence is 2.00 2020-12-09T06:36:25Z- handleDvl() - RDI_Pathfinder msg: 1607495785.42 epoch sec; seqNo:547 2020-12-09T06:36:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.32 , 34.44 , 37.66 , 31.23 2020-12-09T06:36:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , 0.00 , 0.04 2020-12-09T06:36:25Z- waiting for 1607495784.38, time is 1607495785.42 2020-12-09T06:36:25Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:25Z- LcmTrn::updateTrn() >>>> pose time 1607495785.40, meas time 1607495785.42 <<<< 2020-12-09T06:36:25Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495785.42 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:36:25Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594362.51, 50.42) 2020-12-09T06:36:25Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:36:25Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:36:25Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:36:25Z- TNavBF::mmse selected from filter -1 2020-12-09T06:36:25Z- variances([0], [2], and psi_berg) = 800.159988 833.103204 0.000000 2020-12-09T06:36:25Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:36:25Z- LcmTrn::cycle() - MLE : 4061634.63 594313.01 50.42 2020-12-09T06:36:25Z- LcmTrn::cycle() - MMSE : 4061664.13 594362.51 50.42 2020-12-09T06:36:25Z- LcmTrn::cycle() - COVAR: 800.16 833.10 43.81 0.00 2020-12-09T06:36:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495785.46 epoch sec; seqNo:1005; 4061664.13 north; 594362.51 east 2020-12-09T06:36:25Z- waiting for 1607495788.42, time is 1607495785.42 2020-12-09T06:36:25Z- sync is 0.04, coherence is 2.00 2020-12-09T06:36:25Z- AHRS_M2 msg: 1607495785.81 epoch sec; seqNo:972 2020-12-09T06:36:25Z- AHRS_M2 msg: 4.66 phi; 0.00 theta; -0.21 psi 2020-12-09T06:36:25Z- waiting for 1607495788.42, time is 1607495785.42 2020-12-09T06:36:25Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:25Z- handleDepth()-Depth_Keller msg: 50.43 epoch sec; seqNo:1607495785818; depth 0.00 2020-12-09T06:36:25Z- waiting for 1607495788.42, time is 1607495785.42 2020-12-09T06:36:25Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495785.83 epoch sec; seqNo:1006; 4061664.13 north; 594362.51 east 2020-12-09T06:36:25Z- waiting for 1607495788.42, time is 1607495785.42 2020-12-09T06:36:25Z- sync is 0.41, coherence is 2.00 2020-12-09T06:36:26Z- AHRS_M2 msg: 1607495786.21 epoch sec; seqNo:973 2020-12-09T06:36:26Z- AHRS_M2 msg: 4.66 phi; 0.00 theta; -0.21 psi 2020-12-09T06:36:26Z- waiting for 1607495788.42, time is 1607495785.42 2020-12-09T06:36:26Z- sync is 0.79, coherence is 2.00 2020-12-09T06:36:26Z- handleDepth()-Depth_Keller msg: 50.44 epoch sec; seqNo:1607495786211; depth 0.00 2020-12-09T06:36:26Z- waiting for 1607495788.42, time is 1607495785.42 2020-12-09T06:36:26Z- sync is 0.79, coherence is 2.00 2020-12-09T06:36:26Z- handleDvl() - RDI_Pathfinder msg: 1607495786.23 epoch sec; seqNo:548 2020-12-09T06:36:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.32 , 34.60 , 38.27 , 31.38 2020-12-09T06:36:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.04 , 0.03 2020-12-09T06:36:26Z- waiting for 1607495788.42, time is 1607495786.23 2020-12-09T06:36:26Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495786.24 epoch sec; seqNo:1007; 4061664.13 north; 594362.51 east 2020-12-09T06:36:26Z- waiting for 1607495788.42, time is 1607495786.23 2020-12-09T06:36:26Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:26Z- AHRS_M2 msg: 1607495786.60 epoch sec; seqNo:974 2020-12-09T06:36:26Z- AHRS_M2 msg: 4.66 phi; 0.00 theta; -0.21 psi 2020-12-09T06:36:26Z- waiting for 1607495788.42, time is 1607495786.23 2020-12-09T06:36:26Z- sync is 0.37, coherence is 2.00 2020-12-09T06:36:26Z- handleDepth()-Depth_Keller msg: 50.45 epoch sec; seqNo:1607495786614; depth 0.00 2020-12-09T06:36:26Z- waiting for 1607495788.42, time is 1607495786.23 2020-12-09T06:36:26Z- sync is 0.37, coherence is 2.00 2020-12-09T06:36:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495786.64 epoch sec; seqNo:1008; 4061664.12 north; 594361.29 east 2020-12-09T06:36:26Z- waiting for 1607495788.42, time is 1607495786.23 2020-12-09T06:36:26Z- sync is 0.41, coherence is 2.00 2020-12-09T06:36:26Z- AHRS_M2 msg: 1607495787.01 epoch sec; seqNo:975 2020-12-09T06:36:26Z- AHRS_M2 msg: 4.66 phi; 0.01 theta; -0.21 psi 2020-12-09T06:36:26Z- waiting for 1607495788.42, time is 1607495786.23 2020-12-09T06:36:26Z- sync is 0.78, coherence is 2.00 2020-12-09T06:36:26Z- handleDepth()-Depth_Keller msg: 50.44 epoch sec; seqNo:1607495787022; depth 0.00 2020-12-09T06:36:26Z- waiting for 1607495788.42, time is 1607495786.23 2020-12-09T06:36:26Z- sync is 0.78, coherence is 2.00 2020-12-09T06:36:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495787.03 epoch sec; seqNo:1009; 4061664.12 north; 594361.29 east 2020-12-09T06:36:27Z- waiting for 1607495788.42, time is 1607495786.23 2020-12-09T06:36:27Z- sync is 0.80, coherence is 2.00 2020-12-09T06:36:27Z- AHRS_M2 msg: 1607495787.41 epoch sec; seqNo:976 2020-12-09T06:36:27Z- AHRS_M2 msg: 4.67 phi; 0.01 theta; -0.21 psi 2020-12-09T06:36:27Z- waiting for 1607495788.42, time is 1607495786.23 2020-12-09T06:36:27Z- sync is 1.18, coherence is 2.00 2020-12-09T06:36:27Z- handleDepth()-Depth_Keller msg: 50.41 epoch sec; seqNo:1607495787426; depth 0.00 2020-12-09T06:36:27Z- waiting for 1607495788.42, time is 1607495786.23 2020-12-09T06:36:27Z- sync is 1.18, coherence is 2.00 2020-12-09T06:36:27Z- handleDvl() - RDI_Pathfinder msg: 1607495787.44 epoch sec; seqNo:549 2020-12-09T06:36:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.47 , 34.44 , 38.58 , 31.38 2020-12-09T06:36:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.06 , 0.00 2020-12-09T06:36:27Z- waiting for 1607495788.42, time is 1607495787.44 2020-12-09T06:36:27Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495787.45 epoch sec; seqNo:1010; 4061664.12 north; 594361.29 east 2020-12-09T06:36:27Z- waiting for 1607495788.42, time is 1607495787.44 2020-12-09T06:36:27Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:27Z- AHRS_M2 msg: 1607495787.82 epoch sec; seqNo:977 2020-12-09T06:36:27Z- AHRS_M2 msg: 4.67 phi; 0.01 theta; -0.21 psi 2020-12-09T06:36:27Z- waiting for 1607495788.42, time is 1607495787.44 2020-12-09T06:36:27Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:27Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1607495787826; depth 0.00 2020-12-09T06:36:27Z- waiting for 1607495788.42, time is 1607495787.44 2020-12-09T06:36:27Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495787.85 epoch sec; seqNo:1011; 4061664.12 north; 594361.29 east 2020-12-09T06:36:27Z- waiting for 1607495788.42, time is 1607495787.44 2020-12-09T06:36:27Z- sync is 0.41, coherence is 2.00 2020-12-09T06:36:28Z- AHRS_M2 msg: 1607495788.22 epoch sec; seqNo:978 2020-12-09T06:36:28Z- AHRS_M2 msg: 4.67 phi; 0.01 theta; -0.22 psi 2020-12-09T06:36:28Z- waiting for 1607495788.42, time is 1607495787.44 2020-12-09T06:36:28Z- sync is 0.78, coherence is 2.00 2020-12-09T06:36:28Z- handleDepth()-Depth_Keller msg: 50.36 epoch sec; seqNo:1607495788234; depth 0.00 2020-12-09T06:36:28Z- waiting for 1607495788.42, time is 1607495787.44 2020-12-09T06:36:28Z- sync is 0.78, coherence is 2.00 2020-12-09T06:36:28Z- handleDvl() - RDI_Pathfinder msg: 1607495788.25 epoch sec; seqNo:550 2020-12-09T06:36:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.24 , 30.00 , 38.88 , 31.08 2020-12-09T06:36:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.08 , -0.03 2020-12-09T06:36:28Z- waiting for 1607495788.42, time is 1607495788.25 2020-12-09T06:36:28Z- sync is 0.03, coherence is 2.00 2020-12-09T06:36:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495788.27 epoch sec; seqNo:1012; 4061664.10 north; 594360.07 east 2020-12-09T06:36:28Z- waiting for 1607495788.42, time is 1607495788.25 2020-12-09T06:36:28Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:28Z- AHRS_M2 msg: 1607495788.62 epoch sec; seqNo:979 2020-12-09T06:36:28Z- AHRS_M2 msg: 4.67 phi; 0.01 theta; -0.22 psi 2020-12-09T06:36:28Z- waiting for 1607495788.42, time is 1607495788.25 2020-12-09T06:36:28Z- sync is 0.37, coherence is 2.00 2020-12-09T06:36:28Z- handleDepth()-Depth_Keller msg: 50.35 epoch sec; seqNo:1607495788629; depth 0.00 2020-12-09T06:36:28Z- waiting for 1607495788.42, time is 1607495788.25 2020-12-09T06:36:28Z- sync is 0.37, coherence is 2.00 2020-12-09T06:36:28Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:28Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:28Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:28Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:36:28Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:36:28Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:36:28Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:36:28Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:36:28Z- handleDvl() - RDI_Pathfinder msg: 1607495788.63 epoch sec; seqNo:551 2020-12-09T06:36:28Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:36:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.08 , -0.03 2020-12-09T06:36:28Z- waiting for 1607495788.42, time is 1607495788.63 2020-12-09T06:36:28Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:28Z- LcmTrn::updateTrn() >>>> pose time 1607495788.62, meas time 1607495788.63 <<<< 2020-12-09T06:36:28Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495788.63, ping # 0. 2020-12-09T06:36:28Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495788.63 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:36:28Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594360.07, 50.35) 2020-12-09T06:36:28Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:36:28Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:36:28Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:36:28Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:36:28Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:36:28Z- TNavBF::mmse selected from filter -1 2020-12-09T06:36:28Z- variances([0], [2], and psi_berg) = 799.983179 833.102819 0.000000 2020-12-09T06:36:28Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:36:28Z- LcmTrn::cycle() - MLE : 4061634.60 594310.57 50.35 2020-12-09T06:36:28Z- LcmTrn::cycle() - MMSE : 4061664.10 594360.07 50.35 2020-12-09T06:36:28Z- LcmTrn::cycle() - COVAR: 799.98 833.10 43.94 0.00 2020-12-09T06:36:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495788.65 epoch sec; seqNo:1013; 4061663.73 north; 594360.08 east 2020-12-09T06:36:28Z- waiting for 1607495791.63, time is 1607495788.63 2020-12-09T06:36:28Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:29Z- AHRS_M2 msg: 1607495789.03 epoch sec; seqNo:980 2020-12-09T06:36:29Z- AHRS_M2 msg: 4.67 phi; 0.01 theta; -0.22 psi 2020-12-09T06:36:29Z- waiting for 1607495791.63, time is 1607495788.63 2020-12-09T06:36:29Z- sync is 0.40, coherence is 2.00 2020-12-09T06:36:29Z- handleDepth()-Depth_Keller msg: 50.29 epoch sec; seqNo:1607495789035; depth 0.00 2020-12-09T06:36:29Z- waiting for 1607495791.63, time is 1607495788.63 2020-12-09T06:36:29Z- sync is 0.40, coherence is 2.00 2020-12-09T06:36:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495789.05 epoch sec; seqNo:1014; 4061663.73 north; 594360.08 east 2020-12-09T06:36:29Z- waiting for 1607495791.63, time is 1607495788.63 2020-12-09T06:36:29Z- sync is 0.42, coherence is 2.00 2020-12-09T06:36:29Z- AHRS_M2 msg: 1607495789.43 epoch sec; seqNo:981 2020-12-09T06:36:29Z- AHRS_M2 msg: 4.67 phi; 0.01 theta; -0.22 psi 2020-12-09T06:36:29Z- waiting for 1607495791.63, time is 1607495788.63 2020-12-09T06:36:29Z- sync is 0.80, coherence is 2.00 2020-12-09T06:36:29Z- handleDepth()-Depth_Keller msg: 50.26 epoch sec; seqNo:1607495789447; depth 0.00 2020-12-09T06:36:29Z- waiting for 1607495791.63, time is 1607495788.63 2020-12-09T06:36:29Z- sync is 0.80, coherence is 2.00 2020-12-09T06:36:29Z- handleDvl() - RDI_Pathfinder msg: 1607495789.46 epoch sec; seqNo:552 2020-12-09T06:36:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.24 , 37.66 , 38.73 , 30.92 2020-12-09T06:36:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.08 , -0.08 2020-12-09T06:36:29Z- waiting for 1607495791.63, time is 1607495789.46 2020-12-09T06:36:29Z- sync is 0.03, coherence is 2.00 2020-12-09T06:36:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495789.47 epoch sec; seqNo:1015; 4061663.73 north; 594360.08 east 2020-12-09T06:36:29Z- waiting for 1607495791.63, time is 1607495789.46 2020-12-09T06:36:29Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:29Z- AHRS_M2 msg: 1607495789.84 epoch sec; seqNo:982 2020-12-09T06:36:29Z- AHRS_M2 msg: 4.68 phi; 0.02 theta; -0.21 psi 2020-12-09T06:36:29Z- waiting for 1607495791.63, time is 1607495789.46 2020-12-09T06:36:29Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:29Z- handleDepth()-Depth_Keller msg: 50.23 epoch sec; seqNo:1607495789842; depth 0.00 2020-12-09T06:36:29Z- waiting for 1607495791.63, time is 1607495789.46 2020-12-09T06:36:29Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:29Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:29Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:29Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:29Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:36:29Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:36:29Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:36:29Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:36:29Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:36:29Z- handleDvl() - RDI_Pathfinder msg: 1607495789.84 epoch sec; seqNo:553 2020-12-09T06:36:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:36:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.08 , -0.08 2020-12-09T06:36:29Z- waiting for 1607495791.63, time is 1607495789.84 2020-12-09T06:36:29Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495789.86 epoch sec; seqNo:1016; 4061663.71 north; 594358.85 east 2020-12-09T06:36:29Z- waiting for 1607495791.63, time is 1607495789.84 2020-12-09T06:36:29Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:30Z- AHRS_M2 msg: 1607495790.24 epoch sec; seqNo:983 2020-12-09T06:36:30Z- AHRS_M2 msg: 4.68 phi; 0.02 theta; -0.22 psi 2020-12-09T06:36:30Z- waiting for 1607495791.63, time is 1607495789.84 2020-12-09T06:36:30Z- sync is 0.40, coherence is 2.00 2020-12-09T06:36:30Z- handleDepth()-Depth_Keller msg: 50.18 epoch sec; seqNo:1607495790246; depth 0.00 2020-12-09T06:36:30Z- waiting for 1607495791.63, time is 1607495789.84 2020-12-09T06:36:30Z- sync is 0.40, coherence is 2.00 2020-12-09T06:36:30Z- handleDvl() - RDI_Pathfinder msg: 1607495790.26 epoch sec; seqNo:554 2020-12-09T06:36:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.24 , 35.97 , 39.19 , 30.62 2020-12-09T06:36:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.05 , -0.12 2020-12-09T06:36:30Z- waiting for 1607495791.63, time is 1607495790.26 2020-12-09T06:36:30Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495790.30 epoch sec; seqNo:1017; 4061663.71 north; 594358.85 east 2020-12-09T06:36:30Z- waiting for 1607495791.63, time is 1607495790.26 2020-12-09T06:36:30Z- sync is 0.04, coherence is 2.00 2020-12-09T06:36:30Z- AHRS_M2 msg: 1607495790.65 epoch sec; seqNo:984 2020-12-09T06:36:30Z- AHRS_M2 msg: 4.68 phi; 0.02 theta; -0.21 psi 2020-12-09T06:36:30Z- waiting for 1607495791.63, time is 1607495790.26 2020-12-09T06:36:30Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:30Z- handleDepth()-Depth_Keller msg: 50.13 epoch sec; seqNo:1607495790654; depth 0.00 2020-12-09T06:36:30Z- waiting for 1607495791.63, time is 1607495790.26 2020-12-09T06:36:30Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495790.66 epoch sec; seqNo:1018; 4061663.71 north; 594358.85 east 2020-12-09T06:36:30Z- waiting for 1607495791.63, time is 1607495790.26 2020-12-09T06:36:30Z- sync is 0.41, coherence is 2.00 2020-12-09T06:36:31Z- AHRS_M2 msg: 1607495791.05 epoch sec; seqNo:985 2020-12-09T06:36:31Z- AHRS_M2 msg: 4.68 phi; 0.02 theta; -0.21 psi 2020-12-09T06:36:31Z- waiting for 1607495791.63, time is 1607495790.26 2020-12-09T06:36:31Z- sync is 0.79, coherence is 2.00 2020-12-09T06:36:31Z- handleDepth()-Depth_Keller msg: 50.07 epoch sec; seqNo:1607495791057; depth 0.00 2020-12-09T06:36:31Z- waiting for 1607495791.63, time is 1607495790.26 2020-12-09T06:36:31Z- sync is 0.79, coherence is 2.00 2020-12-09T06:36:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495791.08 epoch sec; seqNo:1019; 4061663.71 north; 594358.85 east 2020-12-09T06:36:31Z- waiting for 1607495791.63, time is 1607495790.26 2020-12-09T06:36:31Z- sync is 0.82, coherence is 2.00 2020-12-09T06:36:31Z- AHRS_M2 msg: 1607495791.45 epoch sec; seqNo:986 2020-12-09T06:36:31Z- AHRS_M2 msg: 4.69 phi; 0.02 theta; -0.21 psi 2020-12-09T06:36:31Z- waiting for 1607495791.63, time is 1607495790.26 2020-12-09T06:36:31Z- sync is 1.19, coherence is 2.00 2020-12-09T06:36:31Z- handleDepth()-Depth_Keller msg: 50.02 epoch sec; seqNo:1607495791458; depth 0.00 2020-12-09T06:36:31Z- waiting for 1607495791.63, time is 1607495790.26 2020-12-09T06:36:31Z- sync is 1.19, coherence is 2.00 2020-12-09T06:36:31Z- handleDvl() - RDI_Pathfinder msg: 1607495791.47 epoch sec; seqNo:555 2020-12-09T06:36:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.70 , 35.21 , 39.19 , 30.62 2020-12-09T06:36:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.01 , -0.17 2020-12-09T06:36:31Z- waiting for 1607495791.63, time is 1607495791.47 2020-12-09T06:36:31Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495791.49 epoch sec; seqNo:1020; 4061663.70 north; 594357.63 east 2020-12-09T06:36:31Z- waiting for 1607495791.63, time is 1607495791.47 2020-12-09T06:36:31Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:31Z- AHRS_M2 msg: 1607495791.86 epoch sec; seqNo:987 2020-12-09T06:36:31Z- AHRS_M2 msg: 4.69 phi; 0.02 theta; -0.21 psi 2020-12-09T06:36:31Z- waiting for 1607495791.63, time is 1607495791.47 2020-12-09T06:36:31Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:31Z- handleDepth()-Depth_Keller msg: 49.98 epoch sec; seqNo:1607495791870; depth 0.00 2020-12-09T06:36:31Z- waiting for 1607495791.63, time is 1607495791.47 2020-12-09T06:36:31Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495791.88 epoch sec; seqNo:1021; 4061663.70 north; 594357.63 east 2020-12-09T06:36:31Z- waiting for 1607495791.63, time is 1607495791.47 2020-12-09T06:36:31Z- sync is 0.41, coherence is 2.00 2020-12-09T06:36:32Z- AHRS_M2 msg: 1607495792.26 epoch sec; seqNo:988 2020-12-09T06:36:32Z- AHRS_M2 msg: 4.69 phi; 0.02 theta; -0.21 psi 2020-12-09T06:36:32Z- waiting for 1607495791.63, time is 1607495791.47 2020-12-09T06:36:32Z- sync is 0.79, coherence is 2.00 2020-12-09T06:36:32Z- handleDepth()-Depth_Keller msg: 49.94 epoch sec; seqNo:1607495792272; depth 0.00 2020-12-09T06:36:32Z- waiting for 1607495791.63, time is 1607495791.47 2020-12-09T06:36:32Z- sync is 0.79, coherence is 2.00 2020-12-09T06:36:32Z- handleDvl() - RDI_Pathfinder msg: 1607495792.29 epoch sec; seqNo:556 2020-12-09T06:36:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.00 , 35.21 , 38.88 , 30.62 2020-12-09T06:36:32Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.07 , -0.20 2020-12-09T06:36:32Z- waiting for 1607495791.63, time is 1607495792.29 2020-12-09T06:36:32Z- sync is 0.03, coherence is 2.00 2020-12-09T06:36:32Z- LcmTrn::updateTrn() >>>> pose time 1607495792.26, meas time 1607495792.29 <<<< 2020-12-09T06:36:32Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495792.29 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:36:32Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594357.63, 49.94) 2020-12-09T06:36:32Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:36:32Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:36:32Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:36:32Z- TNavBF::mmse selected from filter -1 2020-12-09T06:36:32Z- variances([0], [2], and psi_berg) = 799.806018 833.102435 0.000000 2020-12-09T06:36:32Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:36:32Z- LcmTrn::cycle() - MLE : 4061634.20 594308.13 49.94 2020-12-09T06:36:32Z- LcmTrn::cycle() - MMSE : 4061663.70 594357.63 49.94 2020-12-09T06:36:32Z- LcmTrn::cycle() - COVAR: 799.81 833.10 44.06 0.00 2020-12-09T06:36:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495792.30 epoch sec; seqNo:1022; 4061663.70 north; 594357.63 east 2020-12-09T06:36:32Z- waiting for 1607495795.29, time is 1607495792.29 2020-12-09T06:36:32Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:32Z- AHRS_M2 msg: 1607495792.66 epoch sec; seqNo:989 2020-12-09T06:36:32Z- AHRS_M2 msg: 4.69 phi; 0.01 theta; -0.21 psi 2020-12-09T06:36:32Z- waiting for 1607495795.29, time is 1607495792.29 2020-12-09T06:36:32Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:32Z- handleDepth()-Depth_Keller msg: 49.89 epoch sec; seqNo:1607495792771; depth 0.00 2020-12-09T06:36:32Z- waiting for 1607495795.29, time is 1607495792.29 2020-12-09T06:36:32Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495792.79 epoch sec; seqNo:1023; 4061663.69 north; 594356.41 east 2020-12-09T06:36:32Z- waiting for 1607495795.29, time is 1607495792.29 2020-12-09T06:36:32Z- sync is 0.50, coherence is 2.00 2020-12-09T06:36:33Z- AHRS_M2 msg: 1607495793.07 epoch sec; seqNo:990 2020-12-09T06:36:33Z- AHRS_M2 msg: 4.69 phi; 0.01 theta; -0.21 psi 2020-12-09T06:36:33Z- waiting for 1607495795.29, time is 1607495792.29 2020-12-09T06:36:33Z- sync is 0.78, coherence is 2.00 2020-12-09T06:36:33Z- handleDepth()-Depth_Keller msg: 49.85 epoch sec; seqNo:1607495793184; depth 0.00 2020-12-09T06:36:33Z- waiting for 1607495795.29, time is 1607495792.29 2020-12-09T06:36:33Z- sync is 0.78, coherence is 2.00 2020-12-09T06:36:33Z- handleDvl() - RDI_Pathfinder msg: 1607495793.22 epoch sec; seqNo:557 2020-12-09T06:36:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.46 , 36.43 , 38.88 , 30.00 2020-12-09T06:36:33Z- handleDvl() - RDI_Pathfinder msg: velocities 1.12 , 0.14 , -0.19 2020-12-09T06:36:33Z- waiting for 1607495795.29, time is 1607495793.22 2020-12-09T06:36:33Z- sync is 0.15, coherence is 2.00 2020-12-09T06:36:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495793.24 epoch sec; seqNo:1024; 4061663.69 north; 594356.41 east 2020-12-09T06:36:33Z- waiting for 1607495795.29, time is 1607495793.22 2020-12-09T06:36:33Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:33Z- AHRS_M2 msg: 1607495793.47 epoch sec; seqNo:991 2020-12-09T06:36:33Z- AHRS_M2 msg: 4.69 phi; 0.01 theta; -0.20 psi 2020-12-09T06:36:33Z- waiting for 1607495795.29, time is 1607495793.22 2020-12-09T06:36:33Z- sync is 0.26, coherence is 2.00 2020-12-09T06:36:33Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1607495793506; depth 0.00 2020-12-09T06:36:33Z- waiting for 1607495795.29, time is 1607495793.22 2020-12-09T06:36:33Z- sync is 0.26, coherence is 2.00 2020-12-09T06:36:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495793.52 epoch sec; seqNo:1025; 4061663.67 north; 594355.19 east 2020-12-09T06:36:33Z- waiting for 1607495795.29, time is 1607495793.22 2020-12-09T06:36:33Z- sync is 0.30, coherence is 2.00 2020-12-09T06:36:33Z- AHRS_M2 msg: 1607495793.88 epoch sec; seqNo:992 2020-12-09T06:36:33Z- AHRS_M2 msg: 4.69 phi; 0.01 theta; -0.20 psi 2020-12-09T06:36:33Z- waiting for 1607495795.29, time is 1607495793.22 2020-12-09T06:36:33Z- sync is 0.66, coherence is 2.00 2020-12-09T06:36:33Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1607495793910; depth 0.00 2020-12-09T06:36:33Z- waiting for 1607495795.29, time is 1607495793.22 2020-12-09T06:36:33Z- sync is 0.66, coherence is 2.00 2020-12-09T06:36:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495793.92 epoch sec; seqNo:1026; 4061663.67 north; 594355.19 east 2020-12-09T06:36:33Z- waiting for 1607495795.29, time is 1607495793.22 2020-12-09T06:36:33Z- sync is 0.70, coherence is 2.00 2020-12-09T06:36:34Z- AHRS_M2 msg: 1607495794.29 epoch sec; seqNo:993 2020-12-09T06:36:34Z- AHRS_M2 msg: 4.69 phi; 0.01 theta; -0.20 psi 2020-12-09T06:36:34Z- waiting for 1607495795.29, time is 1607495793.22 2020-12-09T06:36:34Z- sync is 1.07, coherence is 2.00 2020-12-09T06:36:34Z- handleDepth()-Depth_Keller msg: 49.79 epoch sec; seqNo:1607495794322; depth 0.00 2020-12-09T06:36:34Z- waiting for 1607495795.29, time is 1607495793.22 2020-12-09T06:36:34Z- sync is 1.07, coherence is 2.00 2020-12-09T06:36:34Z- handleDvl() - RDI_Pathfinder msg: 1607495794.34 epoch sec; seqNo:558 2020-12-09T06:36:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.92 , 37.05 , 38.42 , 29.85 2020-12-09T06:36:34Z- handleDvl() - RDI_Pathfinder msg: velocities 1.19 , 0.20 , -0.15 2020-12-09T06:36:34Z- waiting for 1607495795.29, time is 1607495794.34 2020-12-09T06:36:34Z- sync is 0.05, coherence is 2.00 2020-12-09T06:36:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495794.35 epoch sec; seqNo:1027; 4061663.67 north; 594355.19 east 2020-12-09T06:36:34Z- waiting for 1607495795.29, time is 1607495794.34 2020-12-09T06:36:34Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:34Z- AHRS_M2 msg: 1607495794.69 epoch sec; seqNo:994 2020-12-09T06:36:34Z- AHRS_M2 msg: 4.69 phi; 0.01 theta; -0.20 psi 2020-12-09T06:36:34Z- waiting for 1607495795.29, time is 1607495794.34 2020-12-09T06:36:34Z- sync is 0.35, coherence is 2.00 2020-12-09T06:36:34Z- handleDepth()-Depth_Keller msg: 49.79 epoch sec; seqNo:1607495794692; depth 0.00 2020-12-09T06:36:34Z- waiting for 1607495795.29, time is 1607495794.34 2020-12-09T06:36:34Z- sync is 0.35, coherence is 2.00 2020-12-09T06:36:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495794.70 epoch sec; seqNo:1028; 4061663.66 north; 594353.97 east 2020-12-09T06:36:34Z- waiting for 1607495795.29, time is 1607495794.34 2020-12-09T06:36:34Z- sync is 0.37, coherence is 2.00 2020-12-09T06:36:35Z- AHRS_M2 msg: 1607495795.10 epoch sec; seqNo:995 2020-12-09T06:36:35Z- AHRS_M2 msg: 4.68 phi; 0.01 theta; -0.20 psi 2020-12-09T06:36:35Z- waiting for 1607495795.29, time is 1607495794.34 2020-12-09T06:36:35Z- sync is 0.76, coherence is 2.00 2020-12-09T06:36:35Z- handleDepth()-Depth_Keller msg: 49.80 epoch sec; seqNo:1607495795102; depth 0.00 2020-12-09T06:36:35Z- waiting for 1607495795.29, time is 1607495794.34 2020-12-09T06:36:35Z- sync is 0.76, coherence is 2.00 2020-12-09T06:36:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495795.11 epoch sec; seqNo:1029; 4061663.66 north; 594353.97 east 2020-12-09T06:36:35Z- waiting for 1607495795.29, time is 1607495794.34 2020-12-09T06:36:35Z- sync is 0.78, coherence is 2.00 2020-12-09T06:36:35Z- AHRS_M2 msg: 1607495795.49 epoch sec; seqNo:996 2020-12-09T06:36:35Z- AHRS_M2 msg: 4.68 phi; 0.01 theta; -0.20 psi 2020-12-09T06:36:35Z- waiting for 1607495795.29, time is 1607495794.34 2020-12-09T06:36:35Z- sync is 1.16, coherence is 2.00 2020-12-09T06:36:35Z- handleDepth()-Depth_Keller msg: 49.79 epoch sec; seqNo:1607495795497; depth 0.00 2020-12-09T06:36:35Z- waiting for 1607495795.29, time is 1607495794.34 2020-12-09T06:36:35Z- sync is 1.16, coherence is 2.00 2020-12-09T06:36:35Z- handleDvl() - RDI_Pathfinder msg: 1607495795.52 epoch sec; seqNo:559 2020-12-09T06:36:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.92 , 37.20 , 38.42 , 29.85 2020-12-09T06:36:35Z- handleDvl() - RDI_Pathfinder msg: velocities 1.21 , 0.26 , -0.07 2020-12-09T06:36:35Z- waiting for 1607495795.29, time is 1607495795.52 2020-12-09T06:36:35Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:35Z- LcmTrn::updateTrn() >>>> pose time 1607495795.49, meas time 1607495795.52 <<<< 2020-12-09T06:36:35Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495795.52 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:36:35Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594353.97, 49.79) 2020-12-09T06:36:35Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:36:35Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:36:35Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:36:35Z- TNavBF::mmse selected from filter -1 2020-12-09T06:36:35Z- variances([0], [2], and psi_berg) = 799.591177 833.101972 0.000000 2020-12-09T06:36:35Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:36:35Z- LcmTrn::cycle() - MLE : 4061634.16 594306.47 49.79 2020-12-09T06:36:35Z- LcmTrn::cycle() - MMSE : 4061663.66 594353.97 49.79 2020-12-09T06:36:35Z- LcmTrn::cycle() - COVAR: 799.59 833.10 44.25 0.00 2020-12-09T06:36:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495795.53 epoch sec; seqNo:1030; 4061664.04 north; 594353.97 east 2020-12-09T06:36:35Z- waiting for 1607495798.52, time is 1607495795.52 2020-12-09T06:36:35Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:35Z- AHRS_M2 msg: 1607495795.90 epoch sec; seqNo:997 2020-12-09T06:36:35Z- AHRS_M2 msg: 4.68 phi; 0.00 theta; -0.20 psi 2020-12-09T06:36:35Z- waiting for 1607495798.52, time is 1607495795.52 2020-12-09T06:36:35Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:35Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1607495795902; depth 0.00 2020-12-09T06:36:35Z- waiting for 1607495798.52, time is 1607495795.52 2020-12-09T06:36:35Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:35Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:35Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:36:35Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:36:35Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:36:35Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:36:35Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:36:35Z- handleDvl() - RDI_Pathfinder msg: 1607495795.90 epoch sec; seqNo:560 2020-12-09T06:36:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:36:35Z- handleDvl() - RDI_Pathfinder msg: velocities 1.21 , 0.26 , -0.07 2020-12-09T06:36:35Z- waiting for 1607495798.52, time is 1607495795.90 2020-12-09T06:36:35Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495795.92 epoch sec; seqNo:1031; 4061664.02 north; 594352.75 east 2020-12-09T06:36:35Z- waiting for 1607495798.52, time is 1607495795.90 2020-12-09T06:36:35Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:36Z- AHRS_M2 msg: 1607495796.30 epoch sec; seqNo:998 2020-12-09T06:36:36Z- AHRS_M2 msg: 4.67 phi; 0.00 theta; -0.20 psi 2020-12-09T06:36:36Z- waiting for 1607495798.52, time is 1607495795.90 2020-12-09T06:36:36Z- sync is 0.40, coherence is 2.00 2020-12-09T06:36:36Z- handleDepth()-Depth_Keller msg: 49.85 epoch sec; seqNo:1607495796314; depth 0.00 2020-12-09T06:36:36Z- waiting for 1607495798.52, time is 1607495795.90 2020-12-09T06:36:36Z- sync is 0.40, coherence is 2.00 2020-12-09T06:36:36Z- handleDvl() - RDI_Pathfinder msg: 1607495796.33 epoch sec; seqNo:561 2020-12-09T06:36:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.53 , 37.51 , 38.58 , 29.85 2020-12-09T06:36:36Z- handleDvl() - RDI_Pathfinder msg: velocities 1.17 , 0.28 , 0.04 2020-12-09T06:36:36Z- waiting for 1607495798.52, time is 1607495796.33 2020-12-09T06:36:36Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495796.34 epoch sec; seqNo:1032; 4061664.02 north; 594352.75 east 2020-12-09T06:36:36Z- waiting for 1607495798.52, time is 1607495796.33 2020-12-09T06:36:36Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:36Z- AHRS_M2 msg: 1607495796.71 epoch sec; seqNo:999 2020-12-09T06:36:36Z- AHRS_M2 msg: 4.67 phi; 0.00 theta; -0.20 psi 2020-12-09T06:36:36Z- waiting for 1607495798.52, time is 1607495796.33 2020-12-09T06:36:36Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:36Z- handleDepth()-Depth_Keller msg: 49.89 epoch sec; seqNo:1607495796731; depth 0.00 2020-12-09T06:36:36Z- waiting for 1607495798.52, time is 1607495796.33 2020-12-09T06:36:36Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495796.74 epoch sec; seqNo:1033; 4061664.01 north; 594351.53 east 2020-12-09T06:36:36Z- waiting for 1607495798.52, time is 1607495796.33 2020-12-09T06:36:36Z- sync is 0.42, coherence is 2.00 2020-12-09T06:36:37Z- AHRS_M2 msg: 1607495797.11 epoch sec; seqNo:1000 2020-12-09T06:36:37Z- AHRS_M2 msg: 4.66 phi; -0.00 theta; -0.20 psi 2020-12-09T06:36:37Z- waiting for 1607495798.52, time is 1607495796.33 2020-12-09T06:36:37Z- sync is 0.78, coherence is 2.00 2020-12-09T06:36:37Z- handleDepth()-Depth_Keller msg: 49.92 epoch sec; seqNo:1607495797121; depth 0.00 2020-12-09T06:36:37Z- waiting for 1607495798.52, time is 1607495796.33 2020-12-09T06:36:37Z- sync is 0.78, coherence is 2.00 2020-12-09T06:36:37Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:37Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:37Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:37Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:36:37Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:36:37Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:36:37Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:36:37Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:36:37Z- handleDvl() - RDI_Pathfinder msg: 1607495797.12 epoch sec; seqNo:562 2020-12-09T06:36:37Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:36:37Z- handleDvl() - RDI_Pathfinder msg: velocities 1.17 , 0.28 , 0.04 2020-12-09T06:36:37Z- waiting for 1607495798.52, time is 1607495797.12 2020-12-09T06:36:37Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495797.13 epoch sec; seqNo:1034; 4061664.39 north; 594351.52 east 2020-12-09T06:36:37Z- waiting for 1607495798.52, time is 1607495797.12 2020-12-09T06:36:37Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:37Z- AHRS_M2 msg: 1607495797.52 epoch sec; seqNo:1001 2020-12-09T06:36:37Z- AHRS_M2 msg: 4.66 phi; -0.00 theta; -0.20 psi 2020-12-09T06:36:37Z- waiting for 1607495798.52, time is 1607495797.12 2020-12-09T06:36:37Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:37Z- handleDepth()-Depth_Keller msg: 49.96 epoch sec; seqNo:1607495797519; depth 0.00 2020-12-09T06:36:37Z- waiting for 1607495798.52, time is 1607495797.12 2020-12-09T06:36:37Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:37Z- handleDvl() - RDI_Pathfinder msg: 1607495797.53 epoch sec; seqNo:563 2020-12-09T06:36:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.69 , 38.27 , 38.88 , 30.16 2020-12-09T06:36:37Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , 0.25 , 0.14 2020-12-09T06:36:37Z- waiting for 1607495798.52, time is 1607495797.53 2020-12-09T06:36:37Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495797.55 epoch sec; seqNo:1035; 4061664.39 north; 594351.52 east 2020-12-09T06:36:37Z- waiting for 1607495798.52, time is 1607495797.53 2020-12-09T06:36:37Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:37Z- AHRS_M2 msg: 1607495797.92 epoch sec; seqNo:1002 2020-12-09T06:36:37Z- AHRS_M2 msg: 4.65 phi; -0.01 theta; -0.20 psi 2020-12-09T06:36:37Z- waiting for 1607495798.52, time is 1607495797.53 2020-12-09T06:36:37Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:37Z- handleDepth()-Depth_Keller msg: 50.02 epoch sec; seqNo:1607495797943; depth 0.00 2020-12-09T06:36:37Z- waiting for 1607495798.52, time is 1607495797.53 2020-12-09T06:36:37Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495797.95 epoch sec; seqNo:1036; 4061664.38 north; 594350.30 east 2020-12-09T06:36:37Z- waiting for 1607495798.52, time is 1607495797.53 2020-12-09T06:36:37Z- sync is 0.42, coherence is 2.00 2020-12-09T06:36:38Z- AHRS_M2 msg: 1607495798.32 epoch sec; seqNo:1003 2020-12-09T06:36:38Z- AHRS_M2 msg: 4.65 phi; -0.01 theta; -0.21 psi 2020-12-09T06:36:38Z- waiting for 1607495798.52, time is 1607495797.53 2020-12-09T06:36:38Z- sync is 0.79, coherence is 2.00 2020-12-09T06:36:38Z- handleDepth()-Depth_Keller msg: 50.08 epoch sec; seqNo:1607495798328; depth 0.00 2020-12-09T06:36:38Z- waiting for 1607495798.52, time is 1607495797.53 2020-12-09T06:36:38Z- sync is 0.79, coherence is 2.00 2020-12-09T06:36:38Z- handleDvl() - RDI_Pathfinder msg: 1607495798.34 epoch sec; seqNo:564 2020-12-09T06:36:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.49 , 39.29 , 39.29 , 30.28 2020-12-09T06:36:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.17 , 0.22 2020-12-09T06:36:38Z- waiting for 1607495798.52, time is 1607495798.34 2020-12-09T06:36:38Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495798.35 epoch sec; seqNo:1037; 4061664.38 north; 594350.30 east 2020-12-09T06:36:38Z- waiting for 1607495798.52, time is 1607495798.34 2020-12-09T06:36:38Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:38Z- AHRS_M2 msg: 1607495798.73 epoch sec; seqNo:1004 2020-12-09T06:36:38Z- AHRS_M2 msg: 4.64 phi; -0.01 theta; -0.21 psi 2020-12-09T06:36:38Z- waiting for 1607495798.52, time is 1607495798.34 2020-12-09T06:36:38Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:38Z- handleDepth()-Depth_Keller msg: 50.12 epoch sec; seqNo:1607495798731; depth 0.00 2020-12-09T06:36:38Z- waiting for 1607495798.52, time is 1607495798.34 2020-12-09T06:36:38Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495798.74 epoch sec; seqNo:1038; 4061664.38 north; 594350.30 east 2020-12-09T06:36:38Z- waiting for 1607495798.52, time is 1607495798.34 2020-12-09T06:36:38Z- sync is 0.40, coherence is 2.00 2020-12-09T06:36:39Z- handleDepth()-Depth_Keller msg: 50.17 epoch sec; seqNo:1607495799157; depth 0.00 2020-12-09T06:36:39Z- waiting for 1607495798.52, time is 1607495798.34 2020-12-09T06:36:39Z- sync is 0.40, coherence is 2.00 2020-12-09T06:36:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495799.17 epoch sec; seqNo:1039; 4061664.36 north; 594349.08 east 2020-12-09T06:36:39Z- waiting for 1607495798.52, time is 1607495798.34 2020-12-09T06:36:39Z- sync is 0.83, coherence is 2.00 2020-12-09T06:36:39Z- AHRS_M2 msg: 1607495799.53 epoch sec; seqNo:1005 2020-12-09T06:36:39Z- AHRS_M2 msg: 4.64 phi; -0.02 theta; -0.21 psi 2020-12-09T06:36:39Z- waiting for 1607495798.52, time is 1607495798.34 2020-12-09T06:36:39Z- sync is 1.19, coherence is 2.00 2020-12-09T06:36:39Z- handleDepth()-Depth_Keller msg: 50.24 epoch sec; seqNo:1607495799542; depth 0.00 2020-12-09T06:36:39Z- waiting for 1607495798.52, time is 1607495798.34 2020-12-09T06:36:39Z- sync is 1.19, coherence is 2.00 2020-12-09T06:36:39Z- handleDvl() - RDI_Pathfinder msg: 1607495799.56 epoch sec; seqNo:565 2020-12-09T06:36:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.66 , 40.31 , 39.29 , 30.45 2020-12-09T06:36:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , 0.07 , 0.25 2020-12-09T06:36:39Z- waiting for 1607495798.52, time is 1607495799.56 2020-12-09T06:36:39Z- sync is 0.03, coherence is 2.00 2020-12-09T06:36:39Z- LcmTrn::updateTrn() >>>> pose time 1607495799.53, meas time 1607495799.56 <<<< 2020-12-09T06:36:39Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495799.56 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:36:39Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594349.08, 50.24) 2020-12-09T06:36:39Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:36:39Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:36:39Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:36:39Z- TNavBF::mmse selected from filter -1 2020-12-09T06:36:39Z- variances([0], [2], and psi_berg) = 799.342806 833.101438 0.000000 2020-12-09T06:36:39Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:36:39Z- LcmTrn::cycle() - MLE : 4061634.86 594301.58 50.24 2020-12-09T06:36:39Z- LcmTrn::cycle() - MMSE : 4061664.36 594349.08 50.24 2020-12-09T06:36:39Z- LcmTrn::cycle() - COVAR: 799.34 833.10 44.50 0.00 2020-12-09T06:36:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495799.58 epoch sec; seqNo:1040; 4061664.36 north; 594349.08 east 2020-12-09T06:36:39Z- waiting for 1607495802.56, time is 1607495799.56 2020-12-09T06:36:39Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:39Z- AHRS_M2 msg: 1607495799.94 epoch sec; seqNo:1006 2020-12-09T06:36:39Z- AHRS_M2 msg: 4.64 phi; -0.02 theta; -0.22 psi 2020-12-09T06:36:39Z- waiting for 1607495802.56, time is 1607495799.56 2020-12-09T06:36:39Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:39Z- handleDepth()-Depth_Keller msg: 50.29 epoch sec; seqNo:1607495799946; depth 0.00 2020-12-09T06:36:39Z- waiting for 1607495802.56, time is 1607495799.56 2020-12-09T06:36:39Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495799.96 epoch sec; seqNo:1041; 4061664.74 north; 594349.08 east 2020-12-09T06:36:39Z- waiting for 1607495802.56, time is 1607495799.56 2020-12-09T06:36:39Z- sync is 0.40, coherence is 2.00 2020-12-09T06:36:40Z- AHRS_M2 msg: 1607495800.35 epoch sec; seqNo:1007 2020-12-09T06:36:40Z- AHRS_M2 msg: 4.64 phi; -0.02 theta; -0.22 psi 2020-12-09T06:36:40Z- waiting for 1607495802.56, time is 1607495799.56 2020-12-09T06:36:40Z- sync is 0.79, coherence is 2.00 2020-12-09T06:36:40Z- handleDepth()-Depth_Keller msg: 50.32 epoch sec; seqNo:1607495800355; depth 0.00 2020-12-09T06:36:40Z- waiting for 1607495802.56, time is 1607495799.56 2020-12-09T06:36:40Z- sync is 0.79, coherence is 2.00 2020-12-09T06:36:40Z- handleDvl() - RDI_Pathfinder msg: 1607495800.37 epoch sec; seqNo:566 2020-12-09T06:36:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 40.99 , 39.29 , 30.96 2020-12-09T06:36:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.63 , -0.04 , 0.23 2020-12-09T06:36:40Z- waiting for 1607495802.56, time is 1607495800.37 2020-12-09T06:36:40Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495800.38 epoch sec; seqNo:1042; 4061664.74 north; 594349.08 east 2020-12-09T06:36:40Z- waiting for 1607495802.56, time is 1607495800.37 2020-12-09T06:36:40Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:40Z- AHRS_M2 msg: 1607495800.75 epoch sec; seqNo:1008 2020-12-09T06:36:40Z- AHRS_M2 msg: 4.64 phi; -0.02 theta; -0.24 psi 2020-12-09T06:36:40Z- waiting for 1607495802.56, time is 1607495800.37 2020-12-09T06:36:40Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:40Z- handleDepth()-Depth_Keller msg: 50.36 epoch sec; seqNo:1607495800760; depth 0.00 2020-12-09T06:36:40Z- waiting for 1607495802.56, time is 1607495800.37 2020-12-09T06:36:40Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:40Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:40Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:40Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:40Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:36:40Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:36:40Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:36:40Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:36:40Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:36:40Z- handleDvl() - RDI_Pathfinder msg: 1607495800.76 epoch sec; seqNo:567 2020-12-09T06:36:40Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:36:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.63 , -0.04 , 0.23 2020-12-09T06:36:40Z- waiting for 1607495802.56, time is 1607495800.76 2020-12-09T06:36:40Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495800.77 epoch sec; seqNo:1043; 4061664.35 north; 594347.86 east 2020-12-09T06:36:40Z- waiting for 1607495802.56, time is 1607495800.76 2020-12-09T06:36:40Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:41Z- AHRS_M2 msg: 1607495801.15 epoch sec; seqNo:1009 2020-12-09T06:36:41Z- AHRS_M2 msg: 4.64 phi; -0.02 theta; -0.24 psi 2020-12-09T06:36:41Z- waiting for 1607495802.56, time is 1607495800.76 2020-12-09T06:36:41Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:41Z- handleDepth()-Depth_Keller msg: 50.38 epoch sec; seqNo:1607495801156; depth 0.00 2020-12-09T06:36:41Z- waiting for 1607495802.56, time is 1607495800.76 2020-12-09T06:36:41Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495801.17 epoch sec; seqNo:1044; 4061664.35 north; 594347.86 east 2020-12-09T06:36:41Z- waiting for 1607495802.56, time is 1607495800.76 2020-12-09T06:36:41Z- sync is 0.41, coherence is 2.00 2020-12-09T06:36:41Z- AHRS_M2 msg: 1607495801.55 epoch sec; seqNo:1010 2020-12-09T06:36:41Z- AHRS_M2 msg: 4.64 phi; -0.03 theta; -0.24 psi 2020-12-09T06:36:41Z- waiting for 1607495802.56, time is 1607495800.76 2020-12-09T06:36:41Z- sync is 0.79, coherence is 2.00 2020-12-09T06:36:41Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1607495801562; depth 0.00 2020-12-09T06:36:41Z- waiting for 1607495802.56, time is 1607495800.76 2020-12-09T06:36:41Z- sync is 0.79, coherence is 2.00 2020-12-09T06:36:41Z- handleDvl() - RDI_Pathfinder msg: 1607495801.57 epoch sec; seqNo:568 2020-12-09T06:36:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 41.33 , 39.63 , 31.47 2020-12-09T06:36:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.54 , -0.14 , 0.16 2020-12-09T06:36:41Z- waiting for 1607495802.56, time is 1607495801.57 2020-12-09T06:36:41Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495801.60 epoch sec; seqNo:1045; 4061664.35 north; 594347.86 east 2020-12-09T06:36:41Z- waiting for 1607495802.56, time is 1607495801.57 2020-12-09T06:36:41Z- sync is 0.03, coherence is 2.00 2020-12-09T06:36:41Z- AHRS_M2 msg: 1607495801.96 epoch sec; seqNo:1011 2020-12-09T06:36:41Z- AHRS_M2 msg: 4.64 phi; -0.03 theta; -0.24 psi 2020-12-09T06:36:41Z- waiting for 1607495802.56, time is 1607495801.57 2020-12-09T06:36:41Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:41Z- handleDepth()-Depth_Keller msg: 50.41 epoch sec; seqNo:1607495801962; depth 0.00 2020-12-09T06:36:41Z- waiting for 1607495802.56, time is 1607495801.57 2020-12-09T06:36:41Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:41Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:41Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:41Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:41Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:36:41Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:36:41Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:36:41Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:36:41Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:36:41Z- handleDvl() - RDI_Pathfinder msg: 1607495801.96 epoch sec; seqNo:569 2020-12-09T06:36:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:36:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.54 , -0.14 , 0.16 2020-12-09T06:36:41Z- waiting for 1607495802.56, time is 1607495801.96 2020-12-09T06:36:41Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495801.99 epoch sec; seqNo:1046; 4061664.35 north; 594347.86 east 2020-12-09T06:36:41Z- waiting for 1607495802.56, time is 1607495801.96 2020-12-09T06:36:41Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:42Z- AHRS_M2 msg: 1607495802.38 epoch sec; seqNo:1012 2020-12-09T06:36:42Z- AHRS_M2 msg: 4.66 phi; -0.03 theta; -0.24 psi 2020-12-09T06:36:42Z- waiting for 1607495802.56, time is 1607495801.96 2020-12-09T06:36:42Z- sync is 0.41, coherence is 2.00 2020-12-09T06:36:42Z- handleDepth()-Depth_Keller msg: 50.41 epoch sec; seqNo:1607495802383; depth 0.00 2020-12-09T06:36:42Z- waiting for 1607495802.56, time is 1607495801.96 2020-12-09T06:36:42Z- sync is 0.41, coherence is 2.00 2020-12-09T06:36:42Z- handleDvl() - RDI_Pathfinder msg: 1607495802.40 epoch sec; seqNo:570 2020-12-09T06:36:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.83 , 41.50 , 39.29 , 31.47 2020-12-09T06:36:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.51 , -0.20 , 0.05 2020-12-09T06:36:42Z- waiting for 1607495802.56, time is 1607495802.40 2020-12-09T06:36:42Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495802.41 epoch sec; seqNo:1047; 4061664.35 north; 594347.86 east 2020-12-09T06:36:42Z- waiting for 1607495802.56, time is 1607495802.40 2020-12-09T06:36:42Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:42Z- handleDepth()-Depth_Keller msg: 50.41 epoch sec; seqNo:1607495802782; depth 0.00 2020-12-09T06:36:42Z- waiting for 1607495802.56, time is 1607495802.40 2020-12-09T06:36:42Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495802.81 epoch sec; seqNo:1048; 4061664.34 north; 594346.64 east 2020-12-09T06:36:42Z- waiting for 1607495802.56, time is 1607495802.40 2020-12-09T06:36:42Z- sync is 0.41, coherence is 2.00 2020-12-09T06:36:43Z- AHRS_M2 msg: 1607495803.18 epoch sec; seqNo:1013 2020-12-09T06:36:43Z- AHRS_M2 msg: 4.67 phi; -0.03 theta; -0.24 psi 2020-12-09T06:36:43Z- waiting for 1607495802.56, time is 1607495802.40 2020-12-09T06:36:43Z- sync is 0.79, coherence is 2.00 2020-12-09T06:36:43Z- handleDepth()-Depth_Keller msg: 50.38 epoch sec; seqNo:1607495803218; depth 0.00 2020-12-09T06:36:43Z- waiting for 1607495802.56, time is 1607495802.40 2020-12-09T06:36:43Z- sync is 0.79, coherence is 2.00 2020-12-09T06:36:43Z- handleDvl() - RDI_Pathfinder msg: 1607495803.23 epoch sec; seqNo:571 2020-12-09T06:36:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 41.16 , 39.12 , 31.81 2020-12-09T06:36:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.56 , -0.20 , -0.07 2020-12-09T06:36:43Z- waiting for 1607495802.56, time is 1607495803.23 2020-12-09T06:36:43Z- sync is 0.05, coherence is 2.00 2020-12-09T06:36:43Z- LcmTrn::updateTrn() >>>> pose time 1607495803.18, meas time 1607495803.23 <<<< 2020-12-09T06:36:43Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495803.23 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:36:43Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594346.64, 50.38) 2020-12-09T06:36:43Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:36:43Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:36:43Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:36:43Z- TNavBF::mmse selected from filter -1 2020-12-09T06:36:43Z- variances([0], [2], and psi_berg) = 799.169194 833.101068 0.000000 2020-12-09T06:36:43Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:36:43Z- LcmTrn::cycle() - MLE : 4061634.84 594299.14 50.38 2020-12-09T06:36:43Z- LcmTrn::cycle() - MMSE : 4061664.34 594346.64 50.38 2020-12-09T06:36:43Z- LcmTrn::cycle() - COVAR: 799.17 833.10 44.63 0.00 2020-12-09T06:36:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495803.25 epoch sec; seqNo:1049; 4061663.96 north; 594346.65 east 2020-12-09T06:36:43Z- waiting for 1607495806.23, time is 1607495803.23 2020-12-09T06:36:43Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:43Z- AHRS_M2 msg: 1607495803.57 epoch sec; seqNo:1014 2020-12-09T06:36:43Z- AHRS_M2 msg: 4.68 phi; -0.03 theta; -0.24 psi 2020-12-09T06:36:43Z- waiting for 1607495806.23, time is 1607495803.23 2020-12-09T06:36:43Z- sync is 0.34, coherence is 2.00 2020-12-09T06:36:43Z- handleDepth()-Depth_Keller msg: 50.35 epoch sec; seqNo:1607495803586; depth 0.00 2020-12-09T06:36:43Z- waiting for 1607495806.23, time is 1607495803.23 2020-12-09T06:36:43Z- sync is 0.34, coherence is 2.00 2020-12-09T06:36:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495803.60 epoch sec; seqNo:1050; 4061663.96 north; 594346.65 east 2020-12-09T06:36:43Z- waiting for 1607495806.23, time is 1607495803.23 2020-12-09T06:36:43Z- sync is 0.36, coherence is 2.00 2020-12-09T06:36:43Z- AHRS_M2 msg: 1607495803.98 epoch sec; seqNo:1015 2020-12-09T06:36:43Z- AHRS_M2 msg: 4.69 phi; -0.03 theta; -0.23 psi 2020-12-09T06:36:43Z- waiting for 1607495806.23, time is 1607495803.23 2020-12-09T06:36:43Z- sync is 0.75, coherence is 2.00 2020-12-09T06:36:43Z- handleDepth()-Depth_Keller msg: 50.33 epoch sec; seqNo:1607495803985; depth 0.00 2020-12-09T06:36:43Z- waiting for 1607495806.23, time is 1607495803.23 2020-12-09T06:36:43Z- sync is 0.75, coherence is 2.00 2020-12-09T06:36:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495804.01 epoch sec; seqNo:1051; 4061663.96 north; 594346.65 east 2020-12-09T06:36:43Z- waiting for 1607495806.23, time is 1607495803.23 2020-12-09T06:36:43Z- sync is 0.77, coherence is 2.00 2020-12-09T06:36:44Z- AHRS_M2 msg: 1607495804.38 epoch sec; seqNo:1016 2020-12-09T06:36:44Z- AHRS_M2 msg: 4.69 phi; -0.03 theta; -0.23 psi 2020-12-09T06:36:44Z- waiting for 1607495806.23, time is 1607495803.23 2020-12-09T06:36:44Z- sync is 1.15, coherence is 2.00 2020-12-09T06:36:44Z- handleDepth()-Depth_Keller msg: 50.30 epoch sec; seqNo:1607495804386; depth 0.00 2020-12-09T06:36:44Z- waiting for 1607495806.23, time is 1607495803.23 2020-12-09T06:36:44Z- sync is 1.15, coherence is 2.00 2020-12-09T06:36:44Z- handleDvl() - RDI_Pathfinder msg: 1607495804.40 epoch sec; seqNo:572 2020-12-09T06:36:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.00 , 40.31 , 38.61 , 31.81 2020-12-09T06:36:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.66 , -0.17 , -0.17 2020-12-09T06:36:44Z- waiting for 1607495806.23, time is 1607495804.40 2020-12-09T06:36:44Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495804.42 epoch sec; seqNo:1052; 4061663.96 north; 594346.65 east 2020-12-09T06:36:44Z- waiting for 1607495806.23, time is 1607495804.40 2020-12-09T06:36:44Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:44Z- AHRS_M2 msg: 1607495804.79 epoch sec; seqNo:1017 2020-12-09T06:36:44Z- AHRS_M2 msg: 4.70 phi; -0.03 theta; -0.23 psi 2020-12-09T06:36:44Z- waiting for 1607495806.23, time is 1607495804.40 2020-12-09T06:36:44Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:44Z- handleDepth()-Depth_Keller msg: 50.25 epoch sec; seqNo:1607495804790; depth 0.00 2020-12-09T06:36:44Z- waiting for 1607495806.23, time is 1607495804.40 2020-12-09T06:36:44Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495804.80 epoch sec; seqNo:1053; 4061663.96 north; 594346.65 east 2020-12-09T06:36:44Z- waiting for 1607495806.23, time is 1607495804.40 2020-12-09T06:36:44Z- sync is 0.40, coherence is 2.00 2020-12-09T06:36:45Z- AHRS_M2 msg: 1607495805.22 epoch sec; seqNo:1018 2020-12-09T06:36:45Z- AHRS_M2 msg: 4.70 phi; -0.03 theta; -0.22 psi 2020-12-09T06:36:45Z- waiting for 1607495806.23, time is 1607495804.40 2020-12-09T06:36:45Z- sync is 0.82, coherence is 2.00 2020-12-09T06:36:45Z- handleDepth()-Depth_Keller msg: 50.22 epoch sec; seqNo:1607495805221; depth 0.00 2020-12-09T06:36:45Z- waiting for 1607495806.23, time is 1607495804.40 2020-12-09T06:36:45Z- sync is 0.82, coherence is 2.00 2020-12-09T06:36:45Z- handleDvl() - RDI_Pathfinder msg: 1607495805.23 epoch sec; seqNo:573 2020-12-09T06:36:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.83 , 40.48 , 38.61 , 31.64 2020-12-09T06:36:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.10 , -0.23 2020-12-09T06:36:45Z- waiting for 1607495806.23, time is 1607495805.23 2020-12-09T06:36:45Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495805.26 epoch sec; seqNo:1054; 4061663.56 north; 594345.43 east 2020-12-09T06:36:45Z- waiting for 1607495806.23, time is 1607495805.23 2020-12-09T06:36:45Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:45Z- AHRS_M2 msg: 1607495805.59 epoch sec; seqNo:1019 2020-12-09T06:36:45Z- AHRS_M2 msg: 4.71 phi; -0.03 theta; -0.22 psi 2020-12-09T06:36:45Z- waiting for 1607495806.23, time is 1607495805.23 2020-12-09T06:36:45Z- sync is 0.36, coherence is 2.00 2020-12-09T06:36:45Z- handleDepth()-Depth_Keller msg: 50.14 epoch sec; seqNo:1607495805599; depth 0.00 2020-12-09T06:36:45Z- waiting for 1607495806.23, time is 1607495805.23 2020-12-09T06:36:45Z- sync is 0.36, coherence is 2.00 2020-12-09T06:36:45Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:45Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:45Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:45Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:36:45Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:36:45Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:36:45Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:36:45Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:36:45Z- handleDvl() - RDI_Pathfinder msg: 1607495805.61 epoch sec; seqNo:574 2020-12-09T06:36:45Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:36:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.10 , -0.23 2020-12-09T06:36:45Z- waiting for 1607495806.23, time is 1607495805.61 2020-12-09T06:36:45Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495805.62 epoch sec; seqNo:1055; 4061663.56 north; 594345.43 east 2020-12-09T06:36:45Z- waiting for 1607495806.23, time is 1607495805.61 2020-12-09T06:36:45Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:45Z- AHRS_M2 msg: 1607495806.00 epoch sec; seqNo:1020 2020-12-09T06:36:45Z- AHRS_M2 msg: 4.71 phi; -0.03 theta; -0.22 psi 2020-12-09T06:36:45Z- waiting for 1607495806.23, time is 1607495805.61 2020-12-09T06:36:45Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:45Z- handleDepth()-Depth_Keller msg: 50.10 epoch sec; seqNo:1607495806002; depth 0.00 2020-12-09T06:36:45Z- waiting for 1607495806.23, time is 1607495805.61 2020-12-09T06:36:45Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495806.02 epoch sec; seqNo:1056; 4061663.56 north; 594345.43 east 2020-12-09T06:36:46Z- waiting for 1607495806.23, time is 1607495805.61 2020-12-09T06:36:46Z- sync is 0.41, coherence is 2.00 2020-12-09T06:36:46Z- AHRS_M2 msg: 1607495806.40 epoch sec; seqNo:1021 2020-12-09T06:36:46Z- AHRS_M2 msg: 4.71 phi; -0.03 theta; -0.21 psi 2020-12-09T06:36:46Z- waiting for 1607495806.23, time is 1607495805.61 2020-12-09T06:36:46Z- sync is 0.79, coherence is 2.00 2020-12-09T06:36:46Z- handleDepth()-Depth_Keller msg: 50.04 epoch sec; seqNo:1607495806541; depth 0.00 2020-12-09T06:36:46Z- waiting for 1607495806.23, time is 1607495805.61 2020-12-09T06:36:46Z- sync is 0.79, coherence is 2.00 2020-12-09T06:36:46Z- handleDvl() - RDI_Pathfinder msg: 1607495806.55 epoch sec; seqNo:575 2020-12-09T06:36:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.34 , 39.80 , 38.27 , 31.30 2020-12-09T06:36:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.01 , -0.25 2020-12-09T06:36:46Z- waiting for 1607495806.23, time is 1607495806.55 2020-12-09T06:36:46Z- sync is 0.15, coherence is 2.00 2020-12-09T06:36:46Z- LcmTrn::updateTrn() >>>> pose time 1607495806.40, meas time 1607495806.55 <<<< 2020-12-09T06:36:46Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495806.55 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:36:46Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594345.43, 50.04) 2020-12-09T06:36:46Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:36:46Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:36:46Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:36:46Z- TNavBF::mmse selected from filter -1 2020-12-09T06:36:46Z- variances([0], [2], and psi_berg) = 799.036521 833.100786 0.000000 2020-12-09T06:36:46Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:36:46Z- LcmTrn::cycle() - MLE : 4061634.06 594297.93 50.04 2020-12-09T06:36:46Z- LcmTrn::cycle() - MMSE : 4061663.56 594345.43 50.04 2020-12-09T06:36:46Z- LcmTrn::cycle() - COVAR: 799.04 833.10 44.70 0.00 2020-12-09T06:36:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495806.57 epoch sec; seqNo:1057; 4061663.55 north; 594344.21 east 2020-12-09T06:36:46Z- waiting for 1607495809.55, time is 1607495806.55 2020-12-09T06:36:46Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:46Z- AHRS_M2 msg: 1607495806.81 epoch sec; seqNo:1022 2020-12-09T06:36:46Z- AHRS_M2 msg: 4.71 phi; -0.03 theta; -0.21 psi 2020-12-09T06:36:46Z- waiting for 1607495809.55, time is 1607495806.55 2020-12-09T06:36:46Z- sync is 0.25, coherence is 2.00 2020-12-09T06:36:46Z- handleDepth()-Depth_Keller msg: 50.00 epoch sec; seqNo:1607495806828; depth 0.00 2020-12-09T06:36:46Z- waiting for 1607495809.55, time is 1607495806.55 2020-12-09T06:36:46Z- sync is 0.25, coherence is 2.00 2020-12-09T06:36:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495806.84 epoch sec; seqNo:1058; 4061663.55 north; 594344.21 east 2020-12-09T06:36:46Z- waiting for 1607495809.55, time is 1607495806.55 2020-12-09T06:36:46Z- sync is 0.29, coherence is 2.00 2020-12-09T06:36:47Z- AHRS_M2 msg: 1607495807.22 epoch sec; seqNo:1023 2020-12-09T06:36:47Z- AHRS_M2 msg: 4.71 phi; -0.03 theta; -0.21 psi 2020-12-09T06:36:47Z- waiting for 1607495809.55, time is 1607495806.55 2020-12-09T06:36:47Z- sync is 0.67, coherence is 2.00 2020-12-09T06:36:47Z- handleDepth()-Depth_Keller msg: 49.97 epoch sec; seqNo:1607495807257; depth 0.00 2020-12-09T06:36:47Z- waiting for 1607495809.55, time is 1607495806.55 2020-12-09T06:36:47Z- sync is 0.67, coherence is 2.00 2020-12-09T06:36:47Z- handleDvl() - RDI_Pathfinder msg: 1607495807.27 epoch sec; seqNo:576 2020-12-09T06:36:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.51 , 39.46 , 37.76 , 31.13 2020-12-09T06:36:47Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , 0.09 , -0.22 2020-12-09T06:36:47Z- waiting for 1607495809.55, time is 1607495807.27 2020-12-09T06:36:47Z- sync is 0.05, coherence is 2.00 2020-12-09T06:36:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495807.30 epoch sec; seqNo:1059; 4061663.55 north; 594344.21 east 2020-12-09T06:36:47Z- waiting for 1607495809.55, time is 1607495807.27 2020-12-09T06:36:47Z- sync is 0.03, coherence is 2.00 2020-12-09T06:36:47Z- AHRS_M2 msg: 1607495807.61 epoch sec; seqNo:1024 2020-12-09T06:36:47Z- AHRS_M2 msg: 4.71 phi; -0.03 theta; -0.21 psi 2020-12-09T06:36:47Z- waiting for 1607495809.55, time is 1607495807.27 2020-12-09T06:36:47Z- sync is 0.34, coherence is 2.00 2020-12-09T06:36:47Z- handleDepth()-Depth_Keller msg: 49.91 epoch sec; seqNo:1607495807650; depth 0.00 2020-12-09T06:36:47Z- waiting for 1607495809.55, time is 1607495807.27 2020-12-09T06:36:47Z- sync is 0.34, coherence is 2.00 2020-12-09T06:36:47Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:47Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:47Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:47Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:36:47Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:36:47Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:36:47Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:36:47Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:36:47Z- handleDvl() - RDI_Pathfinder msg: 1607495807.65 epoch sec; seqNo:577 2020-12-09T06:36:47Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:36:47Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , 0.09 , -0.22 2020-12-09T06:36:47Z- waiting for 1607495809.55, time is 1607495807.65 2020-12-09T06:36:47Z- sync is 0.04, coherence is 2.00 2020-12-09T06:36:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495807.66 epoch sec; seqNo:1060; 4061663.54 north; 594342.99 east 2020-12-09T06:36:47Z- waiting for 1607495809.55, time is 1607495807.65 2020-12-09T06:36:47Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:47Z- AHRS_M2 msg: 1607495808.02 epoch sec; seqNo:1025 2020-12-09T06:36:47Z- AHRS_M2 msg: 4.71 phi; -0.03 theta; -0.21 psi 2020-12-09T06:36:47Z- waiting for 1607495809.55, time is 1607495807.65 2020-12-09T06:36:47Z- sync is 0.37, coherence is 2.00 2020-12-09T06:36:47Z- handleDepth()-Depth_Keller msg: 49.88 epoch sec; seqNo:1607495808030; depth 0.00 2020-12-09T06:36:47Z- waiting for 1607495809.55, time is 1607495807.65 2020-12-09T06:36:47Z- sync is 0.37, coherence is 2.00 2020-12-09T06:36:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495808.04 epoch sec; seqNo:1061; 4061663.54 north; 594342.99 east 2020-12-09T06:36:48Z- waiting for 1607495809.55, time is 1607495807.65 2020-12-09T06:36:48Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:48Z- AHRS_M2 msg: 1607495808.42 epoch sec; seqNo:1026 2020-12-09T06:36:48Z- AHRS_M2 msg: 4.70 phi; -0.03 theta; -0.20 psi 2020-12-09T06:36:48Z- waiting for 1607495809.55, time is 1607495807.65 2020-12-09T06:36:48Z- sync is 0.77, coherence is 2.00 2020-12-09T06:36:48Z- handleDepth()-Depth_Keller msg: 49.86 epoch sec; seqNo:1607495808439; depth 0.00 2020-12-09T06:36:48Z- waiting for 1607495809.55, time is 1607495807.65 2020-12-09T06:36:48Z- sync is 0.77, coherence is 2.00 2020-12-09T06:36:48Z- handleDvl() - RDI_Pathfinder msg: 1607495808.45 epoch sec; seqNo:578 2020-12-09T06:36:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.68 , 39.46 , 38.10 , 30.79 2020-12-09T06:36:48Z- handleDvl() - RDI_Pathfinder msg: velocities 1.18 , 0.18 , -0.16 2020-12-09T06:36:48Z- waiting for 1607495809.55, time is 1607495808.45 2020-12-09T06:36:48Z- sync is 0.03, coherence is 2.00 2020-12-09T06:36:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495808.46 epoch sec; seqNo:1062; 4061663.54 north; 594342.99 east 2020-12-09T06:36:48Z- waiting for 1607495809.55, time is 1607495808.45 2020-12-09T06:36:48Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:48Z- AHRS_M2 msg: 1607495808.82 epoch sec; seqNo:1027 2020-12-09T06:36:48Z- AHRS_M2 msg: 4.70 phi; -0.03 theta; -0.21 psi 2020-12-09T06:36:48Z- waiting for 1607495809.55, time is 1607495808.45 2020-12-09T06:36:48Z- sync is 0.37, coherence is 2.00 2020-12-09T06:36:48Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1607495808838; depth 0.00 2020-12-09T06:36:48Z- waiting for 1607495809.55, time is 1607495808.45 2020-12-09T06:36:48Z- sync is 0.37, coherence is 2.00 2020-12-09T06:36:48Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:48Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:48Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:48Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:36:48Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:36:48Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:36:48Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:36:48Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:36:48Z- handleDvl() - RDI_Pathfinder msg: 1607495808.84 epoch sec; seqNo:579 2020-12-09T06:36:48Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:36:48Z- handleDvl() - RDI_Pathfinder msg: velocities 1.18 , 0.18 , -0.16 2020-12-09T06:36:48Z- waiting for 1607495809.55, time is 1607495808.84 2020-12-09T06:36:48Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495808.86 epoch sec; seqNo:1063; 4061663.52 north; 594341.77 east 2020-12-09T06:36:48Z- waiting for 1607495809.55, time is 1607495808.84 2020-12-09T06:36:48Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:49Z- AHRS_M2 msg: 1607495809.23 epoch sec; seqNo:1028 2020-12-09T06:36:49Z- AHRS_M2 msg: 4.70 phi; -0.03 theta; -0.21 psi 2020-12-09T06:36:49Z- waiting for 1607495809.55, time is 1607495808.84 2020-12-09T06:36:49Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:49Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1607495809242; depth 0.00 2020-12-09T06:36:49Z- waiting for 1607495809.55, time is 1607495808.84 2020-12-09T06:36:49Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:49Z- handleDvl() - RDI_Pathfinder msg: 1607495809.26 epoch sec; seqNo:580 2020-12-09T06:36:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.51 , 39.80 , 38.27 , 30.79 2020-12-09T06:36:49Z- handleDvl() - RDI_Pathfinder msg: velocities 1.21 , 0.24 , -0.08 2020-12-09T06:36:49Z- waiting for 1607495809.55, time is 1607495809.26 2020-12-09T06:36:49Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495809.27 epoch sec; seqNo:1064; 4061663.90 north; 594341.77 east 2020-12-09T06:36:49Z- waiting for 1607495809.55, time is 1607495809.26 2020-12-09T06:36:49Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:49Z- AHRS_M2 msg: 1607495809.63 epoch sec; seqNo:1029 2020-12-09T06:36:49Z- AHRS_M2 msg: 4.69 phi; -0.03 theta; -0.21 psi 2020-12-09T06:36:49Z- waiting for 1607495809.55, time is 1607495809.26 2020-12-09T06:36:49Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:49Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1607495809638; depth 0.00 2020-12-09T06:36:49Z- waiting for 1607495809.55, time is 1607495809.26 2020-12-09T06:36:49Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495809.66 epoch sec; seqNo:1065; 4061663.89 north; 594340.55 east 2020-12-09T06:36:49Z- waiting for 1607495809.55, time is 1607495809.26 2020-12-09T06:36:49Z- sync is 0.40, coherence is 2.00 2020-12-09T06:36:50Z- AHRS_M2 msg: 1607495810.04 epoch sec; seqNo:1030 2020-12-09T06:36:50Z- AHRS_M2 msg: 4.69 phi; -0.04 theta; -0.21 psi 2020-12-09T06:36:50Z- waiting for 1607495809.55, time is 1607495809.26 2020-12-09T06:36:50Z- sync is 0.78, coherence is 2.00 2020-12-09T06:36:50Z- handleDepth()-Depth_Keller msg: 49.85 epoch sec; seqNo:1607495810040; depth 0.00 2020-12-09T06:36:50Z- waiting for 1607495809.55, time is 1607495809.26 2020-12-09T06:36:50Z- sync is 0.78, coherence is 2.00 2020-12-09T06:36:50Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:50Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:50Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:50Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:36:50Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:36:50Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:36:50Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:36:50Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:36:50Z- handleDvl() - RDI_Pathfinder msg: 1607495810.04 epoch sec; seqNo:581 2020-12-09T06:36:50Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:36:50Z- handleDvl() - RDI_Pathfinder msg: velocities 1.21 , 0.24 , -0.08 2020-12-09T06:36:50Z- waiting for 1607495809.55, time is 1607495810.04 2020-12-09T06:36:50Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:50Z- LcmTrn::updateTrn() >>>> pose time 1607495810.04, meas time 1607495810.04 <<<< 2020-12-09T06:36:50Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495810.04, ping # 0. 2020-12-09T06:36:50Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495810.04 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:36:50Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594340.55, 49.85) 2020-12-09T06:36:50Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:36:50Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:36:50Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:36:50Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:36:50Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:36:50Z- TNavBF::mmse selected from filter -1 2020-12-09T06:36:50Z- variances([0], [2], and psi_berg) = 798.792276 833.100269 0.000000 2020-12-09T06:36:50Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:36:50Z- LcmTrn::cycle() - MLE : 4061634.39 594293.05 49.85 2020-12-09T06:36:50Z- LcmTrn::cycle() - MMSE : 4061663.89 594340.55 49.85 2020-12-09T06:36:50Z- LcmTrn::cycle() - COVAR: 798.79 833.10 44.95 0.00 2020-12-09T06:36:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495810.05 epoch sec; seqNo:1066; 4061663.89 north; 594340.55 east 2020-12-09T06:36:50Z- waiting for 1607495813.04, time is 1607495810.04 2020-12-09T06:36:50Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:50Z- AHRS_M2 msg: 1607495810.44 epoch sec; seqNo:1031 2020-12-09T06:36:50Z- AHRS_M2 msg: 4.68 phi; -0.04 theta; -0.21 psi 2020-12-09T06:36:50Z- waiting for 1607495813.04, time is 1607495810.04 2020-12-09T06:36:50Z- sync is 0.40, coherence is 2.00 2020-12-09T06:36:50Z- handleDepth()-Depth_Keller msg: 49.88 epoch sec; seqNo:1607495810446; depth 0.00 2020-12-09T06:36:50Z- waiting for 1607495813.04, time is 1607495810.04 2020-12-09T06:36:50Z- sync is 0.40, coherence is 2.00 2020-12-09T06:36:50Z- handleDvl() - RDI_Pathfinder msg: 1607495810.46 epoch sec; seqNo:582 2020-12-09T06:36:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.85 , 40.14 , 38.61 , 31.13 2020-12-09T06:36:50Z- handleDvl() - RDI_Pathfinder msg: velocities 1.19 , 0.27 , 0.01 2020-12-09T06:36:50Z- waiting for 1607495813.04, time is 1607495810.46 2020-12-09T06:36:50Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495810.47 epoch sec; seqNo:1067; 4061663.89 north; 594340.55 east 2020-12-09T06:36:50Z- waiting for 1607495813.04, time is 1607495810.46 2020-12-09T06:36:50Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:50Z- AHRS_M2 msg: 1607495810.85 epoch sec; seqNo:1032 2020-12-09T06:36:50Z- AHRS_M2 msg: 4.68 phi; -0.04 theta; -0.21 psi 2020-12-09T06:36:50Z- waiting for 1607495813.04, time is 1607495810.46 2020-12-09T06:36:50Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:50Z- handleDepth()-Depth_Keller msg: 49.92 epoch sec; seqNo:1607495810859; depth 0.00 2020-12-09T06:36:50Z- waiting for 1607495813.04, time is 1607495810.46 2020-12-09T06:36:50Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495810.87 epoch sec; seqNo:1068; 4061663.88 north; 594339.33 east 2020-12-09T06:36:50Z- waiting for 1607495813.04, time is 1607495810.46 2020-12-09T06:36:50Z- sync is 0.41, coherence is 2.00 2020-12-09T06:36:51Z- AHRS_M2 msg: 1607495811.25 epoch sec; seqNo:1033 2020-12-09T06:36:51Z- AHRS_M2 msg: 4.67 phi; -0.04 theta; -0.21 psi 2020-12-09T06:36:51Z- waiting for 1607495813.04, time is 1607495810.46 2020-12-09T06:36:51Z- sync is 0.79, coherence is 2.00 2020-12-09T06:36:51Z- handleDepth()-Depth_Keller msg: 49.95 epoch sec; seqNo:1607495811258; depth 0.00 2020-12-09T06:36:51Z- waiting for 1607495813.04, time is 1607495810.46 2020-12-09T06:36:51Z- sync is 0.79, coherence is 2.00 2020-12-09T06:36:51Z- handleDvl() - RDI_Pathfinder msg: 1607495811.28 epoch sec; seqNo:583 2020-12-09T06:36:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.85 , 40.82 , 38.44 , 31.30 2020-12-09T06:36:51Z- handleDvl() - RDI_Pathfinder msg: velocities 1.13 , 0.27 , 0.08 2020-12-09T06:36:51Z- waiting for 1607495813.04, time is 1607495811.28 2020-12-09T06:36:51Z- sync is 0.03, coherence is 2.00 2020-12-09T06:36:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495811.30 epoch sec; seqNo:1069; 4061664.25 north; 594339.32 east 2020-12-09T06:36:51Z- waiting for 1607495813.04, time is 1607495811.28 2020-12-09T06:36:51Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:51Z- AHRS_M2 msg: 1607495811.65 epoch sec; seqNo:1034 2020-12-09T06:36:51Z- AHRS_M2 msg: 4.66 phi; -0.04 theta; -0.21 psi 2020-12-09T06:36:51Z- waiting for 1607495813.04, time is 1607495811.28 2020-12-09T06:36:51Z- sync is 0.37, coherence is 2.00 2020-12-09T06:36:51Z- handleDepth()-Depth_Keller msg: 50.01 epoch sec; seqNo:1607495811658; depth 0.00 2020-12-09T06:36:51Z- waiting for 1607495813.04, time is 1607495811.28 2020-12-09T06:36:51Z- sync is 0.37, coherence is 2.00 2020-12-09T06:36:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495811.67 epoch sec; seqNo:1070; 4061664.24 north; 594338.10 east 2020-12-09T06:36:51Z- waiting for 1607495813.04, time is 1607495811.28 2020-12-09T06:36:51Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:52Z- AHRS_M2 msg: 1607495812.06 epoch sec; seqNo:1035 2020-12-09T06:36:52Z- AHRS_M2 msg: 4.66 phi; -0.04 theta; -0.21 psi 2020-12-09T06:36:52Z- waiting for 1607495813.04, time is 1607495811.28 2020-12-09T06:36:52Z- sync is 0.78, coherence is 2.00 2020-12-09T06:36:52Z- handleDepth()-Depth_Keller msg: 50.06 epoch sec; seqNo:1607495812078; depth 0.00 2020-12-09T06:36:52Z- waiting for 1607495813.04, time is 1607495811.28 2020-12-09T06:36:52Z- sync is 0.78, coherence is 2.00 2020-12-09T06:36:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495812.09 epoch sec; seqNo:1071; 4061664.24 north; 594338.10 east 2020-12-09T06:36:52Z- waiting for 1607495813.04, time is 1607495811.28 2020-12-09T06:36:52Z- sync is 0.81, coherence is 2.00 2020-12-09T06:36:52Z- AHRS_M2 msg: 1607495812.46 epoch sec; seqNo:1036 2020-12-09T06:36:52Z- AHRS_M2 msg: 4.65 phi; -0.04 theta; -0.22 psi 2020-12-09T06:36:52Z- waiting for 1607495813.04, time is 1607495811.28 2020-12-09T06:36:52Z- sync is 1.18, coherence is 2.00 2020-12-09T06:36:52Z- handleDepth()-Depth_Keller msg: 50.14 epoch sec; seqNo:1607495812470; depth 0.00 2020-12-09T06:36:52Z- waiting for 1607495813.04, time is 1607495811.28 2020-12-09T06:36:52Z- sync is 1.18, coherence is 2.00 2020-12-09T06:36:52Z- handleDvl() - RDI_Pathfinder msg: 1607495812.49 epoch sec; seqNo:584 2020-12-09T06:36:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.68 , 40.99 , 38.95 , 31.64 2020-12-09T06:36:52Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.23 , 0.13 2020-12-09T06:36:52Z- waiting for 1607495813.04, time is 1607495812.49 2020-12-09T06:36:52Z- sync is 0.03, coherence is 2.00 2020-12-09T06:36:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495812.51 epoch sec; seqNo:1072; 4061664.24 north; 594338.10 east 2020-12-09T06:36:52Z- waiting for 1607495813.04, time is 1607495812.49 2020-12-09T06:36:52Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:52Z- AHRS_M2 msg: 1607495812.87 epoch sec; seqNo:1037 2020-12-09T06:36:52Z- AHRS_M2 msg: 4.65 phi; -0.05 theta; -0.22 psi 2020-12-09T06:36:52Z- waiting for 1607495813.04, time is 1607495812.49 2020-12-09T06:36:52Z- sync is 0.37, coherence is 2.00 2020-12-09T06:36:52Z- handleDepth()-Depth_Keller msg: 50.22 epoch sec; seqNo:1607495812874; depth 0.00 2020-12-09T06:36:52Z- waiting for 1607495813.04, time is 1607495812.49 2020-12-09T06:36:52Z- sync is 0.37, coherence is 2.00 2020-12-09T06:36:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495812.89 epoch sec; seqNo:1073; 4061664.61 north; 594336.88 east 2020-12-09T06:36:52Z- waiting for 1607495813.04, time is 1607495812.49 2020-12-09T06:36:52Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:53Z- AHRS_M2 msg: 1607495813.27 epoch sec; seqNo:1038 2020-12-09T06:36:53Z- AHRS_M2 msg: 4.65 phi; -0.05 theta; -0.22 psi 2020-12-09T06:36:53Z- waiting for 1607495813.04, time is 1607495812.49 2020-12-09T06:36:53Z- sync is 0.78, coherence is 2.00 2020-12-09T06:36:53Z- handleDepth()-Depth_Keller msg: 50.27 epoch sec; seqNo:1607495813279; depth 0.00 2020-12-09T06:36:53Z- waiting for 1607495813.04, time is 1607495812.49 2020-12-09T06:36:53Z- sync is 0.78, coherence is 2.00 2020-12-09T06:36:53Z- handleDvl() - RDI_Pathfinder msg: 1607495813.29 epoch sec; seqNo:585 2020-12-09T06:36:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.02 , 42.18 , 39.12 , 31.64 2020-12-09T06:36:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.15 , 0.17 2020-12-09T06:36:53Z- waiting for 1607495813.04, time is 1607495813.29 2020-12-09T06:36:53Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:53Z- LcmTrn::updateTrn() >>>> pose time 1607495813.27, meas time 1607495813.29 <<<< 2020-12-09T06:36:53Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495813.29 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:36:53Z- TerrainNav::motionUpdate() - currEstimate = (4061665, 594336.88, 50.27) 2020-12-09T06:36:53Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:36:53Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:36:53Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:36:53Z- TNavBF::mmse selected from filter -1 2020-12-09T06:36:53Z- variances([0], [2], and psi_berg) = 798.579997 833.099823 0.000000 2020-12-09T06:36:53Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:36:53Z- LcmTrn::cycle() - MLE : 4061635.11 594289.38 50.27 2020-12-09T06:36:53Z- LcmTrn::cycle() - MMSE : 4061664.61 594336.88 50.27 2020-12-09T06:36:53Z- LcmTrn::cycle() - COVAR: 798.58 833.10 45.14 0.00 2020-12-09T06:36:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495813.31 epoch sec; seqNo:1074; 4061664.61 north; 594336.88 east 2020-12-09T06:36:53Z- waiting for 1607495816.29, time is 1607495813.29 2020-12-09T06:36:53Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:53Z- AHRS_M2 msg: 1607495813.67 epoch sec; seqNo:1039 2020-12-09T06:36:53Z- AHRS_M2 msg: 4.64 phi; -0.05 theta; -0.22 psi 2020-12-09T06:36:53Z- waiting for 1607495816.29, time is 1607495813.29 2020-12-09T06:36:53Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:53Z- handleDepth()-Depth_Keller msg: 50.35 epoch sec; seqNo:1607495813687; depth 0.00 2020-12-09T06:36:53Z- waiting for 1607495816.29, time is 1607495813.29 2020-12-09T06:36:53Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:53Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:53Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:53Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:53Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:36:53Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:36:53Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:36:53Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:36:53Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:36:53Z- handleDvl() - RDI_Pathfinder msg: 1607495813.69 epoch sec; seqNo:586 2020-12-09T06:36:53Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:36:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.15 , 0.17 2020-12-09T06:36:53Z- waiting for 1607495816.29, time is 1607495813.69 2020-12-09T06:36:53Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495813.70 epoch sec; seqNo:1075; 4061664.61 north; 594336.88 east 2020-12-09T06:36:53Z- waiting for 1607495816.29, time is 1607495813.69 2020-12-09T06:36:53Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:54Z- AHRS_M2 msg: 1607495814.08 epoch sec; seqNo:1040 2020-12-09T06:36:54Z- AHRS_M2 msg: 4.64 phi; -0.05 theta; -0.23 psi 2020-12-09T06:36:54Z- waiting for 1607495816.29, time is 1607495813.69 2020-12-09T06:36:54Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:54Z- handleDepth()-Depth_Keller msg: 50.44 epoch sec; seqNo:1607495814086; depth 0.00 2020-12-09T06:36:54Z- waiting for 1607495816.29, time is 1607495813.69 2020-12-09T06:36:54Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495814.10 epoch sec; seqNo:1076; 4061664.59 north; 594335.66 east 2020-12-09T06:36:54Z- waiting for 1607495816.29, time is 1607495813.69 2020-12-09T06:36:54Z- sync is 0.41, coherence is 2.00 2020-12-09T06:36:54Z- AHRS_M2 msg: 1607495814.48 epoch sec; seqNo:1041 2020-12-09T06:36:54Z- AHRS_M2 msg: 4.64 phi; -0.05 theta; -0.23 psi 2020-12-09T06:36:54Z- waiting for 1607495816.29, time is 1607495813.69 2020-12-09T06:36:54Z- sync is 0.79, coherence is 2.00 2020-12-09T06:36:54Z- handleDepth()-Depth_Keller msg: 50.51 epoch sec; seqNo:1607495814486; depth 0.00 2020-12-09T06:36:54Z- waiting for 1607495816.29, time is 1607495813.69 2020-12-09T06:36:54Z- sync is 0.79, coherence is 2.00 2020-12-09T06:36:54Z- handleDvl() - RDI_Pathfinder msg: 1607495814.50 epoch sec; seqNo:587 2020-12-09T06:36:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.02 , 42.86 , 39.12 , 31.64 2020-12-09T06:36:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , 0.06 , 0.18 2020-12-09T06:36:54Z- waiting for 1607495816.29, time is 1607495814.50 2020-12-09T06:36:54Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495814.51 epoch sec; seqNo:1077; 4061664.59 north; 594335.66 east 2020-12-09T06:36:54Z- waiting for 1607495816.29, time is 1607495814.50 2020-12-09T06:36:54Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:54Z- handleDepth()-Depth_Keller msg: 50.56 epoch sec; seqNo:1607495814910; depth 0.00 2020-12-09T06:36:54Z- waiting for 1607495816.29, time is 1607495814.50 2020-12-09T06:36:54Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:54Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:54Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:54Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:54Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:36:54Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:36:54Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:36:54Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:36:54Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:36:54Z- handleDvl() - RDI_Pathfinder msg: 1607495814.91 epoch sec; seqNo:588 2020-12-09T06:36:54Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:36:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , 0.06 , 0.18 2020-12-09T06:36:54Z- waiting for 1607495816.29, time is 1607495814.91 2020-12-09T06:36:54Z- sync is 0.40, coherence is 2.00 2020-12-09T06:36:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495814.92 epoch sec; seqNo:1078; 4061664.59 north; 594335.66 east 2020-12-09T06:36:54Z- waiting for 1607495816.29, time is 1607495814.91 2020-12-09T06:36:54Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:55Z- AHRS_M2 msg: 1607495815.29 epoch sec; seqNo:1042 2020-12-09T06:36:55Z- AHRS_M2 msg: 4.63 phi; -0.05 theta; -0.23 psi 2020-12-09T06:36:55Z- waiting for 1607495816.29, time is 1607495814.91 2020-12-09T06:36:55Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:55Z- handleDepth()-Depth_Keller msg: 50.64 epoch sec; seqNo:1607495815308; depth 0.00 2020-12-09T06:36:55Z- waiting for 1607495816.29, time is 1607495814.91 2020-12-09T06:36:55Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:55Z- handleDvl() - RDI_Pathfinder msg: 1607495815.32 epoch sec; seqNo:589 2020-12-09T06:36:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.36 , 42.86 , 39.29 , 32.15 2020-12-09T06:36:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.04 , 0.18 2020-12-09T06:36:55Z- waiting for 1607495816.29, time is 1607495815.32 2020-12-09T06:36:55Z- sync is 0.03, coherence is 2.00 2020-12-09T06:36:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495815.33 epoch sec; seqNo:1079; 4061664.59 north; 594335.66 east 2020-12-09T06:36:55Z- waiting for 1607495816.29, time is 1607495815.32 2020-12-09T06:36:55Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:55Z- AHRS_M2 msg: 1607495815.69 epoch sec; seqNo:1043 2020-12-09T06:36:55Z- AHRS_M2 msg: 4.63 phi; -0.05 theta; -0.23 psi 2020-12-09T06:36:55Z- waiting for 1607495816.29, time is 1607495815.32 2020-12-09T06:36:55Z- sync is 0.37, coherence is 2.00 2020-12-09T06:36:55Z- handleDepth()-Depth_Keller msg: 50.71 epoch sec; seqNo:1607495815702; depth 0.00 2020-12-09T06:36:55Z- waiting for 1607495816.29, time is 1607495815.32 2020-12-09T06:36:55Z- sync is 0.37, coherence is 2.00 2020-12-09T06:36:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495815.71 epoch sec; seqNo:1080; 4061664.58 north; 594334.44 east 2020-12-09T06:36:55Z- waiting for 1607495816.29, time is 1607495815.32 2020-12-09T06:36:55Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:56Z- AHRS_M2 msg: 1607495816.11 epoch sec; seqNo:1044 2020-12-09T06:36:56Z- AHRS_M2 msg: 4.63 phi; -0.05 theta; -0.24 psi 2020-12-09T06:36:56Z- waiting for 1607495816.29, time is 1607495815.32 2020-12-09T06:36:56Z- sync is 0.79, coherence is 2.00 2020-12-09T06:36:56Z- handleDepth()-Depth_Keller msg: 50.76 epoch sec; seqNo:1607495816112; depth 0.00 2020-12-09T06:36:56Z- waiting for 1607495816.29, time is 1607495815.32 2020-12-09T06:36:56Z- sync is 0.79, coherence is 2.00 2020-12-09T06:36:56Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:56Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:56Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:56Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:36:56Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:36:56Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:36:56Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:36:56Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:36:56Z- handleDvl() - RDI_Pathfinder msg: 1607495816.12 epoch sec; seqNo:590 2020-12-09T06:36:56Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:36:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.04 , 0.18 2020-12-09T06:36:56Z- waiting for 1607495816.29, time is 1607495816.12 2020-12-09T06:36:56Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495816.13 epoch sec; seqNo:1081; 4061664.58 north; 594334.44 east 2020-12-09T06:36:56Z- waiting for 1607495816.29, time is 1607495816.12 2020-12-09T06:36:56Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:56Z- AHRS_M2 msg: 1607495816.50 epoch sec; seqNo:1045 2020-12-09T06:36:56Z- AHRS_M2 msg: 4.63 phi; -0.05 theta; -0.24 psi 2020-12-09T06:36:56Z- waiting for 1607495816.29, time is 1607495816.12 2020-12-09T06:36:56Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:56Z- handleDepth()-Depth_Keller msg: 50.81 epoch sec; seqNo:1607495816506; depth 0.00 2020-12-09T06:36:56Z- waiting for 1607495816.29, time is 1607495816.12 2020-12-09T06:36:56Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:56Z- handleDvl() - RDI_Pathfinder msg: 1607495816.53 epoch sec; seqNo:591 2020-12-09T06:36:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.87 , 43.37 , 39.29 , 32.32 2020-12-09T06:36:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.65 , -0.12 , 0.16 2020-12-09T06:36:56Z- waiting for 1607495816.29, time is 1607495816.53 2020-12-09T06:36:56Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:56Z- LcmTrn::updateTrn() >>>> pose time 1607495816.50, meas time 1607495816.53 <<<< 2020-12-09T06:36:56Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495816.53 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:36:56Z- TerrainNav::motionUpdate() - currEstimate = (4061665, 594334.44, 50.81) 2020-12-09T06:36:56Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:36:56Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:36:56Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:36:56Z- TNavBF::mmse selected from filter -1 2020-12-09T06:36:56Z- variances([0], [2], and psi_berg) = 798.409282 833.099465 0.000000 2020-12-09T06:36:56Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:36:56Z- LcmTrn::cycle() - MLE : 4061636.08 594285.94 50.81 2020-12-09T06:36:56Z- LcmTrn::cycle() - MMSE : 4061664.58 594334.44 50.81 2020-12-09T06:36:56Z- LcmTrn::cycle() - COVAR: 798.41 833.10 45.26 0.00 2020-12-09T06:36:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495816.54 epoch sec; seqNo:1082; 4061664.58 north; 594334.44 east 2020-12-09T06:36:56Z- waiting for 1607495819.53, time is 1607495816.53 2020-12-09T06:36:56Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:56Z- AHRS_M2 msg: 1607495816.91 epoch sec; seqNo:1046 2020-12-09T06:36:56Z- AHRS_M2 msg: 4.63 phi; -0.05 theta; -0.24 psi 2020-12-09T06:36:56Z- waiting for 1607495819.53, time is 1607495816.53 2020-12-09T06:36:56Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:56Z- handleDepth()-Depth_Keller msg: 50.85 epoch sec; seqNo:1607495816914; depth 0.00 2020-12-09T06:36:56Z- waiting for 1607495819.53, time is 1607495816.53 2020-12-09T06:36:56Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495816.94 epoch sec; seqNo:1083; 4061664.58 north; 594334.44 east 2020-12-09T06:36:56Z- waiting for 1607495819.53, time is 1607495816.53 2020-12-09T06:36:56Z- sync is 0.41, coherence is 2.00 2020-12-09T06:36:57Z- AHRS_M2 msg: 1607495817.31 epoch sec; seqNo:1047 2020-12-09T06:36:57Z- AHRS_M2 msg: 4.63 phi; -0.05 theta; -0.24 psi 2020-12-09T06:36:57Z- waiting for 1607495819.53, time is 1607495816.53 2020-12-09T06:36:57Z- sync is 0.78, coherence is 2.00 2020-12-09T06:36:57Z- handleDepth()-Depth_Keller msg: 50.88 epoch sec; seqNo:1607495817316; depth 0.00 2020-12-09T06:36:57Z- waiting for 1607495819.53, time is 1607495816.53 2020-12-09T06:36:57Z- sync is 0.78, coherence is 2.00 2020-12-09T06:36:57Z- handleDvl() - RDI_Pathfinder msg: 1607495817.33 epoch sec; seqNo:592 2020-12-09T06:36:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.87 , 43.88 , 40.31 , 32.65 2020-12-09T06:36:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.61 , -0.20 , 0.12 2020-12-09T06:36:57Z- waiting for 1607495819.53, time is 1607495817.33 2020-12-09T06:36:57Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495817.34 epoch sec; seqNo:1084; 4061664.20 north; 594334.44 east 2020-12-09T06:36:57Z- waiting for 1607495819.53, time is 1607495817.33 2020-12-09T06:36:57Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:57Z- AHRS_M2 msg: 1607495817.71 epoch sec; seqNo:1048 2020-12-09T06:36:57Z- AHRS_M2 msg: 4.63 phi; -0.05 theta; -0.24 psi 2020-12-09T06:36:57Z- waiting for 1607495819.53, time is 1607495817.33 2020-12-09T06:36:57Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:57Z- handleDepth()-Depth_Keller msg: 50.91 epoch sec; seqNo:1607495817720; depth 0.00 2020-12-09T06:36:57Z- waiting for 1607495819.53, time is 1607495817.33 2020-12-09T06:36:57Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495817.76 epoch sec; seqNo:1085; 4061664.19 north; 594333.22 east 2020-12-09T06:36:57Z- waiting for 1607495819.53, time is 1607495817.33 2020-12-09T06:36:57Z- sync is 0.43, coherence is 2.00 2020-12-09T06:36:58Z- AHRS_M2 msg: 1607495818.12 epoch sec; seqNo:1049 2020-12-09T06:36:58Z- AHRS_M2 msg: 4.64 phi; -0.05 theta; -0.24 psi 2020-12-09T06:36:58Z- waiting for 1607495819.53, time is 1607495817.33 2020-12-09T06:36:58Z- sync is 0.79, coherence is 2.00 2020-12-09T06:36:58Z- handleDepth()-Depth_Keller msg: 50.93 epoch sec; seqNo:1607495818121; depth 0.00 2020-12-09T06:36:58Z- waiting for 1607495819.53, time is 1607495817.33 2020-12-09T06:36:58Z- sync is 0.79, coherence is 2.00 2020-12-09T06:36:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495818.15 epoch sec; seqNo:1086; 4061664.19 north; 594333.22 east 2020-12-09T06:36:58Z- waiting for 1607495819.53, time is 1607495817.33 2020-12-09T06:36:58Z- sync is 0.82, coherence is 2.00 2020-12-09T06:36:58Z- AHRS_M2 msg: 1607495818.52 epoch sec; seqNo:1050 2020-12-09T06:36:58Z- AHRS_M2 msg: 4.64 phi; -0.04 theta; -0.24 psi 2020-12-09T06:36:58Z- waiting for 1607495819.53, time is 1607495817.33 2020-12-09T06:36:58Z- sync is 1.19, coherence is 2.00 2020-12-09T06:36:58Z- handleDepth()-Depth_Keller msg: 50.94 epoch sec; seqNo:1607495818526; depth 0.00 2020-12-09T06:36:58Z- waiting for 1607495819.53, time is 1607495817.33 2020-12-09T06:36:58Z- sync is 1.19, coherence is 2.00 2020-12-09T06:36:58Z- handleDvl() - RDI_Pathfinder msg: 1607495818.54 epoch sec; seqNo:593 2020-12-09T06:36:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.70 , 43.71 , 40.48 , 32.99 2020-12-09T06:36:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.59 , -0.23 , 0.06 2020-12-09T06:36:58Z- waiting for 1607495819.53, time is 1607495818.54 2020-12-09T06:36:58Z- sync is 0.02, coherence is 2.00 2020-12-09T06:36:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495818.57 epoch sec; seqNo:1087; 4061664.19 north; 594333.22 east 2020-12-09T06:36:58Z- waiting for 1607495819.53, time is 1607495818.54 2020-12-09T06:36:58Z- sync is 0.03, coherence is 2.00 2020-12-09T06:36:58Z- AHRS_M2 msg: 1607495818.93 epoch sec; seqNo:1051 2020-12-09T06:36:58Z- AHRS_M2 msg: 4.64 phi; -0.04 theta; -0.24 psi 2020-12-09T06:36:58Z- waiting for 1607495819.53, time is 1607495818.54 2020-12-09T06:36:58Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:58Z- handleDepth()-Depth_Keller msg: 50.95 epoch sec; seqNo:1607495818932; depth 0.00 2020-12-09T06:36:58Z- waiting for 1607495819.53, time is 1607495818.54 2020-12-09T06:36:58Z- sync is 0.39, coherence is 2.00 2020-12-09T06:36:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495818.94 epoch sec; seqNo:1088; 4061663.81 north; 594333.22 east 2020-12-09T06:36:58Z- waiting for 1607495819.53, time is 1607495818.54 2020-12-09T06:36:58Z- sync is 0.40, coherence is 2.00 2020-12-09T06:36:59Z- AHRS_M2 msg: 1607495819.33 epoch sec; seqNo:1052 2020-12-09T06:36:59Z- AHRS_M2 msg: 4.64 phi; -0.04 theta; -0.24 psi 2020-12-09T06:36:59Z- waiting for 1607495819.53, time is 1607495818.54 2020-12-09T06:36:59Z- sync is 0.79, coherence is 2.00 2020-12-09T06:36:59Z- handleDepth()-Depth_Keller msg: 50.94 epoch sec; seqNo:1607495819337; depth 0.00 2020-12-09T06:36:59Z- waiting for 1607495819.53, time is 1607495818.54 2020-12-09T06:36:59Z- sync is 0.79, coherence is 2.00 2020-12-09T06:36:59Z- handleDvl() - RDI_Pathfinder msg: 1607495819.35 epoch sec; seqNo:594 2020-12-09T06:36:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.53 , 43.54 , 40.48 , 33.34 2020-12-09T06:36:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.61 , -0.23 , -0.02 2020-12-09T06:36:59Z- waiting for 1607495819.53, time is 1607495819.35 2020-12-09T06:36:59Z- sync is 0.03, coherence is 2.00 2020-12-09T06:36:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495819.37 epoch sec; seqNo:1089; 4061663.81 north; 594333.22 east 2020-12-09T06:36:59Z- waiting for 1607495819.53, time is 1607495819.35 2020-12-09T06:36:59Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:59Z- AHRS_M2 msg: 1607495819.73 epoch sec; seqNo:1053 2020-12-09T06:36:59Z- AHRS_M2 msg: 4.65 phi; -0.04 theta; -0.24 psi 2020-12-09T06:36:59Z- waiting for 1607495819.53, time is 1607495819.35 2020-12-09T06:36:59Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:59Z- handleDepth()-Depth_Keller msg: 50.93 epoch sec; seqNo:1607495819739; depth 0.00 2020-12-09T06:36:59Z- waiting for 1607495819.53, time is 1607495819.35 2020-12-09T06:36:59Z- sync is 0.38, coherence is 2.00 2020-12-09T06:36:59Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:59Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:59Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:36:59Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:36:59Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:36:59Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:36:59Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:36:59Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:36:59Z- handleDvl() - RDI_Pathfinder msg: 1607495819.74 epoch sec; seqNo:595 2020-12-09T06:36:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:36:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.61 , -0.23 , -0.02 2020-12-09T06:36:59Z- waiting for 1607495819.53, time is 1607495819.74 2020-12-09T06:36:59Z- sync is 0.01, coherence is 2.00 2020-12-09T06:36:59Z- LcmTrn::updateTrn() >>>> pose time 1607495819.73, meas time 1607495819.74 <<<< 2020-12-09T06:36:59Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495819.74, ping # 0. 2020-12-09T06:36:59Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495819.74 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:36:59Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594333.22, 50.93) 2020-12-09T06:36:59Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:36:59Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:36:59Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:36:59Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:36:59Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:36:59Z- TNavBF::mmse selected from filter -1 2020-12-09T06:36:59Z- variances([0], [2], and psi_berg) = 798.278809 833.099193 0.000000 2020-12-09T06:36:59Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:36:59Z- LcmTrn::cycle() - MLE : 4061635.31 594284.72 50.93 2020-12-09T06:36:59Z- LcmTrn::cycle() - MMSE : 4061663.81 594333.22 50.93 2020-12-09T06:36:59Z- LcmTrn::cycle() - COVAR: 798.28 833.10 45.34 0.00 2020-12-09T06:36:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495819.77 epoch sec; seqNo:1090; 4061663.80 north; 594332.00 east 2020-12-09T06:36:59Z- waiting for 1607495822.74, time is 1607495819.74 2020-12-09T06:36:59Z- sync is 0.03, coherence is 2.00 2020-12-09T06:37:00Z- AHRS_M2 msg: 1607495820.14 epoch sec; seqNo:1054 2020-12-09T06:37:00Z- AHRS_M2 msg: 4.65 phi; -0.04 theta; -0.23 psi 2020-12-09T06:37:00Z- waiting for 1607495822.74, time is 1607495819.74 2020-12-09T06:37:00Z- sync is 0.40, coherence is 2.00 2020-12-09T06:37:00Z- handleDepth()-Depth_Keller msg: 50.91 epoch sec; seqNo:1607495820335; depth 0.00 2020-12-09T06:37:00Z- waiting for 1607495822.74, time is 1607495819.74 2020-12-09T06:37:00Z- sync is 0.40, coherence is 2.00 2020-12-09T06:37:00Z- handleDvl() - RDI_Pathfinder msg: 1607495820.35 epoch sec; seqNo:596 2020-12-09T06:37:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.70 , 43.37 , 40.31 , 33.85 2020-12-09T06:37:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.66 , -0.20 , -0.11 2020-12-09T06:37:00Z- waiting for 1607495822.74, time is 1607495820.35 2020-12-09T06:37:00Z- sync is 0.21, coherence is 2.00 2020-12-09T06:37:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495820.36 epoch sec; seqNo:1091; 4061663.42 north; 594332.01 east 2020-12-09T06:37:00Z- waiting for 1607495822.74, time is 1607495820.35 2020-12-09T06:37:00Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:00Z- AHRS_M2 msg: 1607495820.61 epoch sec; seqNo:1055 2020-12-09T06:37:00Z- AHRS_M2 msg: 4.65 phi; -0.03 theta; -0.23 psi 2020-12-09T06:37:00Z- waiting for 1607495822.74, time is 1607495820.35 2020-12-09T06:37:00Z- sync is 0.26, coherence is 2.00 2020-12-09T06:37:00Z- handleDepth()-Depth_Keller msg: 50.88 epoch sec; seqNo:1607495820628; depth 0.00 2020-12-09T06:37:00Z- waiting for 1607495822.74, time is 1607495820.35 2020-12-09T06:37:00Z- sync is 0.26, coherence is 2.00 2020-12-09T06:37:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495820.67 epoch sec; seqNo:1092; 4061663.42 north; 594332.01 east 2020-12-09T06:37:00Z- waiting for 1607495822.74, time is 1607495820.35 2020-12-09T06:37:00Z- sync is 0.32, coherence is 2.00 2020-12-09T06:37:00Z- AHRS_M2 msg: 1607495821.00 epoch sec; seqNo:1056 2020-12-09T06:37:00Z- AHRS_M2 msg: 4.66 phi; -0.03 theta; -0.23 psi 2020-12-09T06:37:00Z- waiting for 1607495822.74, time is 1607495820.35 2020-12-09T06:37:00Z- sync is 0.66, coherence is 2.00 2020-12-09T06:37:01Z- handleDepth()-Depth_Keller msg: 50.86 epoch sec; seqNo:1607495821042; depth 0.00 2020-12-09T06:37:01Z- waiting for 1607495822.74, time is 1607495820.35 2020-12-09T06:37:01Z- sync is 0.66, coherence is 2.00 2020-12-09T06:37:01Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:01Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:01Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:01Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:37:01Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:37:01Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:37:01Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:37:01Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:37:01Z- handleDvl() - RDI_Pathfinder msg: 1607495821.04 epoch sec; seqNo:597 2020-12-09T06:37:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:37:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.66 , -0.20 , -0.11 2020-12-09T06:37:01Z- waiting for 1607495822.74, time is 1607495821.04 2020-12-09T06:37:01Z- sync is 0.04, coherence is 2.00 2020-12-09T06:37:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495821.07 epoch sec; seqNo:1093; 4061663.42 north; 594332.01 east 2020-12-09T06:37:01Z- waiting for 1607495822.74, time is 1607495821.04 2020-12-09T06:37:01Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:01Z- AHRS_M2 msg: 1607495821.41 epoch sec; seqNo:1057 2020-12-09T06:37:01Z- AHRS_M2 msg: 4.66 phi; -0.03 theta; -0.22 psi 2020-12-09T06:37:01Z- waiting for 1607495822.74, time is 1607495821.04 2020-12-09T06:37:01Z- sync is 0.37, coherence is 2.00 2020-12-09T06:37:01Z- handleDepth()-Depth_Keller msg: 50.81 epoch sec; seqNo:1607495821446; depth 0.00 2020-12-09T06:37:01Z- waiting for 1607495822.74, time is 1607495821.04 2020-12-09T06:37:01Z- sync is 0.37, coherence is 2.00 2020-12-09T06:37:01Z- handleDvl() - RDI_Pathfinder msg: 1607495821.46 epoch sec; seqNo:598 2020-12-09T06:37:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.87 , 42.69 , 40.31 , 33.68 2020-12-09T06:37:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.13 , -0.19 2020-12-09T06:37:01Z- waiting for 1607495822.74, time is 1607495821.46 2020-12-09T06:37:01Z- sync is 0.05, coherence is 2.00 2020-12-09T06:37:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495821.48 epoch sec; seqNo:1094; 4061663.40 north; 594330.79 east 2020-12-09T06:37:01Z- waiting for 1607495822.74, time is 1607495821.46 2020-12-09T06:37:01Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:01Z- AHRS_M2 msg: 1607495821.81 epoch sec; seqNo:1058 2020-12-09T06:37:01Z- AHRS_M2 msg: 4.66 phi; -0.02 theta; -0.22 psi 2020-12-09T06:37:01Z- waiting for 1607495822.74, time is 1607495821.46 2020-12-09T06:37:01Z- sync is 0.35, coherence is 2.00 2020-12-09T06:37:01Z- handleDepth()-Depth_Keller msg: 50.76 epoch sec; seqNo:1607495821815; depth 0.00 2020-12-09T06:37:01Z- waiting for 1607495822.74, time is 1607495821.46 2020-12-09T06:37:01Z- sync is 0.35, coherence is 2.00 2020-12-09T06:37:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495821.83 epoch sec; seqNo:1095; 4061663.40 north; 594330.79 east 2020-12-09T06:37:01Z- waiting for 1607495822.74, time is 1607495821.46 2020-12-09T06:37:01Z- sync is 0.37, coherence is 2.00 2020-12-09T06:37:02Z- AHRS_M2 msg: 1607495822.23 epoch sec; seqNo:1059 2020-12-09T06:37:02Z- AHRS_M2 msg: 4.67 phi; -0.02 theta; -0.22 psi 2020-12-09T06:37:02Z- waiting for 1607495822.74, time is 1607495821.46 2020-12-09T06:37:02Z- sync is 0.77, coherence is 2.00 2020-12-09T06:37:02Z- handleDepth()-Depth_Keller msg: 50.73 epoch sec; seqNo:1607495822232; depth 0.00 2020-12-09T06:37:02Z- waiting for 1607495822.74, time is 1607495821.46 2020-12-09T06:37:02Z- sync is 0.77, coherence is 2.00 2020-12-09T06:37:02Z- handleDvl() - RDI_Pathfinder msg: 1607495822.24 epoch sec; seqNo:599 2020-12-09T06:37:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.04 , 42.18 , 39.97 , 33.51 2020-12-09T06:37:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.03 , -0.25 2020-12-09T06:37:02Z- waiting for 1607495822.74, time is 1607495822.24 2020-12-09T06:37:02Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495822.27 epoch sec; seqNo:1096; 4061663.02 north; 594330.79 east 2020-12-09T06:37:02Z- waiting for 1607495822.74, time is 1607495822.24 2020-12-09T06:37:02Z- sync is 0.03, coherence is 2.00 2020-12-09T06:37:02Z- AHRS_M2 msg: 1607495822.62 epoch sec; seqNo:1060 2020-12-09T06:37:02Z- AHRS_M2 msg: 4.67 phi; -0.02 theta; -0.21 psi 2020-12-09T06:37:02Z- waiting for 1607495822.74, time is 1607495822.24 2020-12-09T06:37:02Z- sync is 0.37, coherence is 2.00 2020-12-09T06:37:02Z- handleDepth()-Depth_Keller msg: 50.69 epoch sec; seqNo:1607495822632; depth 0.00 2020-12-09T06:37:02Z- waiting for 1607495822.74, time is 1607495822.24 2020-12-09T06:37:02Z- sync is 0.37, coherence is 2.00 2020-12-09T06:37:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495822.65 epoch sec; seqNo:1097; 4061663.02 north; 594330.79 east 2020-12-09T06:37:02Z- waiting for 1607495822.74, time is 1607495822.24 2020-12-09T06:37:02Z- sync is 0.41, coherence is 2.00 2020-12-09T06:37:02Z- AHRS_M2 msg: 1607495823.02 epoch sec; seqNo:1061 2020-12-09T06:37:02Z- AHRS_M2 msg: 4.67 phi; -0.02 theta; -0.21 psi 2020-12-09T06:37:02Z- waiting for 1607495822.74, time is 1607495822.24 2020-12-09T06:37:02Z- sync is 0.78, coherence is 2.00 2020-12-09T06:37:02Z- handleDepth()-Depth_Keller msg: 50.66 epoch sec; seqNo:1607495823030; depth 0.00 2020-12-09T06:37:02Z- waiting for 1607495822.74, time is 1607495822.24 2020-12-09T06:37:02Z- sync is 0.78, coherence is 2.00 2020-12-09T06:37:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495823.05 epoch sec; seqNo:1098; 4061663.01 north; 594329.57 east 2020-12-09T06:37:03Z- waiting for 1607495822.74, time is 1607495822.24 2020-12-09T06:37:03Z- sync is 0.81, coherence is 2.00 2020-12-09T06:37:03Z- AHRS_M2 msg: 1607495823.43 epoch sec; seqNo:1062 2020-12-09T06:37:03Z- AHRS_M2 msg: 4.67 phi; -0.01 theta; -0.20 psi 2020-12-09T06:37:03Z- waiting for 1607495822.74, time is 1607495822.24 2020-12-09T06:37:03Z- sync is 1.18, coherence is 2.00 2020-12-09T06:37:03Z- handleDepth()-Depth_Keller msg: 50.61 epoch sec; seqNo:1607495823434; depth 0.00 2020-12-09T06:37:03Z- waiting for 1607495822.74, time is 1607495822.24 2020-12-09T06:37:03Z- sync is 1.18, coherence is 2.00 2020-12-09T06:37:03Z- handleDvl() - RDI_Pathfinder msg: 1607495823.45 epoch sec; seqNo:600 2020-12-09T06:37:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.04 , 41.84 , 39.97 , 33.85 2020-12-09T06:37:03Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , 0.09 , -0.27 2020-12-09T06:37:03Z- waiting for 1607495822.74, time is 1607495823.45 2020-12-09T06:37:03Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:03Z- LcmTrn::updateTrn() >>>> pose time 1607495823.43, meas time 1607495823.45 <<<< 2020-12-09T06:37:03Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495823.45 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:37:03Z- TerrainNav::motionUpdate() - currEstimate = (4061663, 594329.57, 50.61) 2020-12-09T06:37:03Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:37:03Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:37:03Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:37:03Z- TNavBF::mmse selected from filter -1 2020-12-09T06:37:03Z- variances([0], [2], and psi_berg) = 798.068904 833.098757 0.000000 2020-12-09T06:37:03Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:37:03Z- LcmTrn::cycle() - MLE : 4061634.51 594282.07 50.61 2020-12-09T06:37:03Z- LcmTrn::cycle() - MMSE : 4061663.01 594329.57 50.61 2020-12-09T06:37:03Z- LcmTrn::cycle() - COVAR: 798.07 833.10 45.53 0.00 2020-12-09T06:37:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495823.48 epoch sec; seqNo:1099; 4061663.01 north; 594329.57 east 2020-12-09T06:37:03Z- waiting for 1607495826.45, time is 1607495823.45 2020-12-09T06:37:03Z- sync is 0.04, coherence is 2.00 2020-12-09T06:37:03Z- AHRS_M2 msg: 1607495823.83 epoch sec; seqNo:1063 2020-12-09T06:37:03Z- AHRS_M2 msg: 4.68 phi; -0.01 theta; -0.20 psi 2020-12-09T06:37:03Z- waiting for 1607495826.45, time is 1607495823.45 2020-12-09T06:37:03Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:03Z- handleDepth()-Depth_Keller msg: 50.56 epoch sec; seqNo:1607495823842; depth 0.00 2020-12-09T06:37:03Z- waiting for 1607495826.45, time is 1607495823.45 2020-12-09T06:37:03Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495823.86 epoch sec; seqNo:1100; 4061663.01 north; 594329.57 east 2020-12-09T06:37:03Z- waiting for 1607495826.45, time is 1607495823.45 2020-12-09T06:37:03Z- sync is 0.41, coherence is 2.00 2020-12-09T06:37:04Z- AHRS_M2 msg: 1607495824.24 epoch sec; seqNo:1064 2020-12-09T06:37:04Z- AHRS_M2 msg: 4.67 phi; -0.01 theta; -0.20 psi 2020-12-09T06:37:04Z- waiting for 1607495826.45, time is 1607495823.45 2020-12-09T06:37:04Z- sync is 0.79, coherence is 2.00 2020-12-09T06:37:04Z- handleDepth()-Depth_Keller msg: 50.52 epoch sec; seqNo:1607495824254; depth 0.00 2020-12-09T06:37:04Z- waiting for 1607495826.45, time is 1607495823.45 2020-12-09T06:37:04Z- sync is 0.79, coherence is 2.00 2020-12-09T06:37:04Z- handleDvl() - RDI_Pathfinder msg: 1607495824.27 epoch sec; seqNo:601 2020-12-09T06:37:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.87 , 41.33 , 39.80 , 34.02 2020-12-09T06:37:04Z- handleDvl() - RDI_Pathfinder msg: velocities 1.14 , 0.19 , -0.25 2020-12-09T06:37:04Z- waiting for 1607495826.45, time is 1607495824.27 2020-12-09T06:37:04Z- sync is 0.03, coherence is 2.00 2020-12-09T06:37:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495824.28 epoch sec; seqNo:1101; 4061663.00 north; 594328.35 east 2020-12-09T06:37:04Z- waiting for 1607495826.45, time is 1607495824.27 2020-12-09T06:37:04Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:04Z- AHRS_M2 msg: 1607495824.64 epoch sec; seqNo:1065 2020-12-09T06:37:04Z- AHRS_M2 msg: 4.67 phi; -0.01 theta; -0.19 psi 2020-12-09T06:37:04Z- waiting for 1607495826.45, time is 1607495824.27 2020-12-09T06:37:04Z- sync is 0.37, coherence is 2.00 2020-12-09T06:37:04Z- handleDepth()-Depth_Keller msg: 50.50 epoch sec; seqNo:1607495824646; depth 0.00 2020-12-09T06:37:04Z- waiting for 1607495826.45, time is 1607495824.27 2020-12-09T06:37:04Z- sync is 0.37, coherence is 2.00 2020-12-09T06:37:04Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:04Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:04Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:04Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:37:04Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:37:04Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:37:04Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:37:04Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:37:04Z- handleDvl() - RDI_Pathfinder msg: 1607495824.65 epoch sec; seqNo:602 2020-12-09T06:37:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:37:04Z- handleDvl() - RDI_Pathfinder msg: velocities 1.14 , 0.19 , -0.25 2020-12-09T06:37:04Z- waiting for 1607495826.45, time is 1607495824.65 2020-12-09T06:37:04Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495824.66 epoch sec; seqNo:1102; 4061663.00 north; 594328.35 east 2020-12-09T06:37:04Z- waiting for 1607495826.45, time is 1607495824.65 2020-12-09T06:37:04Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:05Z- AHRS_M2 msg: 1607495825.04 epoch sec; seqNo:1066 2020-12-09T06:37:05Z- AHRS_M2 msg: 4.67 phi; -0.00 theta; -0.19 psi 2020-12-09T06:37:05Z- waiting for 1607495826.45, time is 1607495824.65 2020-12-09T06:37:05Z- sync is 0.39, coherence is 2.00 2020-12-09T06:37:05Z- handleDepth()-Depth_Keller msg: 50.49 epoch sec; seqNo:1607495825048; depth 0.00 2020-12-09T06:37:05Z- waiting for 1607495826.45, time is 1607495824.65 2020-12-09T06:37:05Z- sync is 0.39, coherence is 2.00 2020-12-09T06:37:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495825.06 epoch sec; seqNo:1103; 4061663.00 north; 594328.35 east 2020-12-09T06:37:05Z- waiting for 1607495826.45, time is 1607495824.65 2020-12-09T06:37:05Z- sync is 0.41, coherence is 2.00 2020-12-09T06:37:05Z- AHRS_M2 msg: 1607495825.44 epoch sec; seqNo:1067 2020-12-09T06:37:05Z- AHRS_M2 msg: 4.67 phi; -0.00 theta; -0.19 psi 2020-12-09T06:37:05Z- waiting for 1607495826.45, time is 1607495824.65 2020-12-09T06:37:05Z- sync is 0.80, coherence is 2.00 2020-12-09T06:37:05Z- handleDepth()-Depth_Keller msg: 50.48 epoch sec; seqNo:1607495825466; depth 0.00 2020-12-09T06:37:05Z- waiting for 1607495826.45, time is 1607495824.65 2020-12-09T06:37:05Z- sync is 0.80, coherence is 2.00 2020-12-09T06:37:05Z- handleDvl() - RDI_Pathfinder msg: 1607495825.48 epoch sec; seqNo:603 2020-12-09T06:37:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.21 , 41.16 , 39.97 , 34.19 2020-12-09T06:37:05Z- handleDvl() - RDI_Pathfinder msg: velocities 1.24 , 0.26 , -0.17 2020-12-09T06:37:05Z- waiting for 1607495826.45, time is 1607495825.48 2020-12-09T06:37:05Z- sync is 0.03, coherence is 2.00 2020-12-09T06:37:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495825.49 epoch sec; seqNo:1104; 4061663.36 north; 594327.13 east 2020-12-09T06:37:05Z- waiting for 1607495826.45, time is 1607495825.48 2020-12-09T06:37:05Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:05Z- AHRS_M2 msg: 1607495825.85 epoch sec; seqNo:1068 2020-12-09T06:37:05Z- AHRS_M2 msg: 4.66 phi; -0.00 theta; -0.19 psi 2020-12-09T06:37:05Z- waiting for 1607495826.45, time is 1607495825.48 2020-12-09T06:37:05Z- sync is 0.37, coherence is 2.00 2020-12-09T06:37:05Z- handleDepth()-Depth_Keller msg: 50.48 epoch sec; seqNo:1607495825854; depth 0.00 2020-12-09T06:37:05Z- waiting for 1607495826.45, time is 1607495825.48 2020-12-09T06:37:05Z- sync is 0.37, coherence is 2.00 2020-12-09T06:37:05Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:05Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:05Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:05Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:37:05Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:37:05Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:37:05Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:37:05Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:37:05Z- handleDvl() - RDI_Pathfinder msg: 1607495825.86 epoch sec; seqNo:604 2020-12-09T06:37:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:37:05Z- handleDvl() - RDI_Pathfinder msg: velocities 1.24 , 0.26 , -0.17 2020-12-09T06:37:05Z- waiting for 1607495826.45, time is 1607495825.86 2020-12-09T06:37:05Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495825.88 epoch sec; seqNo:1105; 4061663.36 north; 594327.13 east 2020-12-09T06:37:05Z- waiting for 1607495826.45, time is 1607495825.86 2020-12-09T06:37:05Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:06Z- AHRS_M2 msg: 1607495826.25 epoch sec; seqNo:1069 2020-12-09T06:37:06Z- AHRS_M2 msg: 4.66 phi; -0.00 theta; -0.19 psi 2020-12-09T06:37:06Z- waiting for 1607495826.45, time is 1607495825.86 2020-12-09T06:37:06Z- sync is 0.40, coherence is 2.00 2020-12-09T06:37:06Z- handleDepth()-Depth_Keller msg: 50.51 epoch sec; seqNo:1607495826256; depth 0.00 2020-12-09T06:37:06Z- waiting for 1607495826.45, time is 1607495825.86 2020-12-09T06:37:06Z- sync is 0.40, coherence is 2.00 2020-12-09T06:37:06Z- handleDvl() - RDI_Pathfinder msg: 1607495826.27 epoch sec; seqNo:605 2020-12-09T06:37:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.38 , 41.16 , 40.14 , 34.53 2020-12-09T06:37:06Z- handleDvl() - RDI_Pathfinder msg: velocities 1.28 , 0.29 , -0.05 2020-12-09T06:37:06Z- waiting for 1607495826.45, time is 1607495826.27 2020-12-09T06:37:06Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495826.30 epoch sec; seqNo:1106; 4061663.35 north; 594325.91 east 2020-12-09T06:37:06Z- waiting for 1607495826.45, time is 1607495826.27 2020-12-09T06:37:06Z- sync is 0.03, coherence is 2.00 2020-12-09T06:37:06Z- AHRS_M2 msg: 1607495826.66 epoch sec; seqNo:1070 2020-12-09T06:37:06Z- AHRS_M2 msg: 4.65 phi; -0.00 theta; -0.19 psi 2020-12-09T06:37:06Z- waiting for 1607495826.45, time is 1607495826.27 2020-12-09T06:37:06Z- sync is 0.39, coherence is 2.00 2020-12-09T06:37:06Z- handleDepth()-Depth_Keller msg: 50.52 epoch sec; seqNo:1607495826662; depth 0.00 2020-12-09T06:37:06Z- waiting for 1607495826.45, time is 1607495826.27 2020-12-09T06:37:06Z- sync is 0.39, coherence is 2.00 2020-12-09T06:37:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495826.67 epoch sec; seqNo:1107; 4061663.35 north; 594325.91 east 2020-12-09T06:37:06Z- waiting for 1607495826.45, time is 1607495826.27 2020-12-09T06:37:06Z- sync is 0.40, coherence is 2.00 2020-12-09T06:37:07Z- AHRS_M2 msg: 1607495827.06 epoch sec; seqNo:1071 2020-12-09T06:37:07Z- AHRS_M2 msg: 4.64 phi; 0.00 theta; -0.19 psi 2020-12-09T06:37:07Z- waiting for 1607495826.45, time is 1607495826.27 2020-12-09T06:37:07Z- sync is 0.79, coherence is 2.00 2020-12-09T06:37:07Z- handleDepth()-Depth_Keller msg: 50.57 epoch sec; seqNo:1607495827074; depth 0.00 2020-12-09T06:37:07Z- waiting for 1607495826.45, time is 1607495826.27 2020-12-09T06:37:07Z- sync is 0.79, coherence is 2.00 2020-12-09T06:37:07Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:07Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:07Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:07Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:37:07Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:37:07Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:37:07Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:37:07Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:37:07Z- handleDvl() - RDI_Pathfinder msg: 1607495827.08 epoch sec; seqNo:606 2020-12-09T06:37:07Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:37:07Z- handleDvl() - RDI_Pathfinder msg: velocities 1.28 , 0.29 , -0.05 2020-12-09T06:37:07Z- waiting for 1607495826.45, time is 1607495827.08 2020-12-09T06:37:07Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:07Z- LcmTrn::updateTrn() >>>> pose time 1607495827.06, meas time 1607495827.08 <<<< 2020-12-09T06:37:07Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495827.08, ping # 0. 2020-12-09T06:37:07Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495827.08 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:37:07Z- TerrainNav::motionUpdate() - currEstimate = (4061663, 594325.91, 50.57) 2020-12-09T06:37:07Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:37:07Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:37:07Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:37:07Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:37:07Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:37:07Z- TNavBF::mmse selected from filter -1 2020-12-09T06:37:07Z- variances([0], [2], and psi_berg) = 797.861587 833.098328 0.000000 2020-12-09T06:37:07Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:37:07Z- LcmTrn::cycle() - MLE : 4061634.85 594278.41 50.57 2020-12-09T06:37:07Z- LcmTrn::cycle() - MMSE : 4061663.35 594325.91 50.57 2020-12-09T06:37:07Z- LcmTrn::cycle() - COVAR: 797.86 833.10 45.72 0.00 2020-12-09T06:37:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495827.09 epoch sec; seqNo:1108; 4061663.34 north; 594324.69 east 2020-12-09T06:37:07Z- waiting for 1607495830.08, time is 1607495827.08 2020-12-09T06:37:07Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:07Z- AHRS_M2 msg: 1607495827.47 epoch sec; seqNo:1072 2020-12-09T06:37:07Z- AHRS_M2 msg: 4.63 phi; 0.00 theta; -0.19 psi 2020-12-09T06:37:07Z- waiting for 1607495830.08, time is 1607495827.08 2020-12-09T06:37:07Z- sync is 0.39, coherence is 2.00 2020-12-09T06:37:07Z- handleDepth()-Depth_Keller msg: 50.60 epoch sec; seqNo:1607495827489; depth 0.00 2020-12-09T06:37:07Z- waiting for 1607495830.08, time is 1607495827.08 2020-12-09T06:37:07Z- sync is 0.39, coherence is 2.00 2020-12-09T06:37:07Z- handleDvl() - RDI_Pathfinder msg: 1607495827.50 epoch sec; seqNo:607 2020-12-09T06:37:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.55 , 41.84 , 40.99 , 34.70 2020-12-09T06:37:07Z- handleDvl() - RDI_Pathfinder msg: velocities 1.23 , 0.26 , 0.09 2020-12-09T06:37:07Z- waiting for 1607495830.08, time is 1607495827.50 2020-12-09T06:37:07Z- sync is 0.03, coherence is 2.00 2020-12-09T06:37:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495827.51 epoch sec; seqNo:1109; 4061663.71 north; 594324.68 east 2020-12-09T06:37:07Z- waiting for 1607495830.08, time is 1607495827.50 2020-12-09T06:37:07Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:07Z- AHRS_M2 msg: 1607495827.87 epoch sec; seqNo:1073 2020-12-09T06:37:07Z- AHRS_M2 msg: 4.63 phi; 0.00 theta; -0.20 psi 2020-12-09T06:37:07Z- waiting for 1607495830.08, time is 1607495827.50 2020-12-09T06:37:07Z- sync is 0.37, coherence is 2.00 2020-12-09T06:37:07Z- handleDepth()-Depth_Keller msg: 50.65 epoch sec; seqNo:1607495827935; depth 0.00 2020-12-09T06:37:07Z- waiting for 1607495830.08, time is 1607495827.50 2020-12-09T06:37:07Z- sync is 0.37, coherence is 2.00 2020-12-09T06:37:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495827.95 epoch sec; seqNo:1110; 4061663.71 north; 594324.68 east 2020-12-09T06:37:07Z- waiting for 1607495830.08, time is 1607495827.50 2020-12-09T06:37:07Z- sync is 0.45, coherence is 2.00 2020-12-09T06:37:08Z- AHRS_M2 msg: 1607495828.27 epoch sec; seqNo:1074 2020-12-09T06:37:08Z- AHRS_M2 msg: 4.62 phi; -0.00 theta; -0.20 psi 2020-12-09T06:37:08Z- waiting for 1607495830.08, time is 1607495827.50 2020-12-09T06:37:08Z- sync is 0.77, coherence is 2.00 2020-12-09T06:37:08Z- handleDepth()-Depth_Keller msg: 50.73 epoch sec; seqNo:1607495828279; depth 0.00 2020-12-09T06:37:08Z- waiting for 1607495830.08, time is 1607495827.50 2020-12-09T06:37:08Z- sync is 0.77, coherence is 2.00 2020-12-09T06:37:08Z- handleDvl() - RDI_Pathfinder msg: 1607495828.30 epoch sec; seqNo:608 2020-12-09T06:37:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.99 , 42.10 , 41.16 , 35.36 2020-12-09T06:37:08Z- handleDvl() - RDI_Pathfinder msg: velocities 1.11 , 0.20 , 0.20 2020-12-09T06:37:08Z- waiting for 1607495830.08, time is 1607495828.30 2020-12-09T06:37:08Z- sync is 0.03, coherence is 2.00 2020-12-09T06:37:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495828.33 epoch sec; seqNo:1111; 4061663.70 north; 594323.46 east 2020-12-09T06:37:08Z- waiting for 1607495830.08, time is 1607495828.30 2020-12-09T06:37:08Z- sync is 0.03, coherence is 2.00 2020-12-09T06:37:08Z- AHRS_M2 msg: 1607495828.68 epoch sec; seqNo:1075 2020-12-09T06:37:08Z- AHRS_M2 msg: 4.61 phi; -0.00 theta; -0.20 psi 2020-12-09T06:37:08Z- waiting for 1607495830.08, time is 1607495828.30 2020-12-09T06:37:08Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:08Z- handleDepth()-Depth_Keller msg: 50.77 epoch sec; seqNo:1607495828688; depth 0.00 2020-12-09T06:37:08Z- waiting for 1607495830.08, time is 1607495828.30 2020-12-09T06:37:08Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495828.70 epoch sec; seqNo:1112; 4061663.70 north; 594323.46 east 2020-12-09T06:37:08Z- waiting for 1607495830.08, time is 1607495828.30 2020-12-09T06:37:08Z- sync is 0.40, coherence is 2.00 2020-12-09T06:37:09Z- AHRS_M2 msg: 1607495829.08 epoch sec; seqNo:1076 2020-12-09T06:37:09Z- AHRS_M2 msg: 4.60 phi; -0.00 theta; -0.21 psi 2020-12-09T06:37:09Z- waiting for 1607495830.08, time is 1607495828.30 2020-12-09T06:37:09Z- sync is 0.78, coherence is 2.00 2020-12-09T06:37:09Z- handleDepth()-Depth_Keller msg: 50.84 epoch sec; seqNo:1607495829095; depth 0.00 2020-12-09T06:37:09Z- waiting for 1607495830.08, time is 1607495828.30 2020-12-09T06:37:09Z- sync is 0.78, coherence is 2.00 2020-12-09T06:37:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495829.11 epoch sec; seqNo:1113; 4061663.69 north; 594322.24 east 2020-12-09T06:37:09Z- waiting for 1607495830.08, time is 1607495828.30 2020-12-09T06:37:09Z- sync is 0.81, coherence is 2.00 2020-12-09T06:37:09Z- AHRS_M2 msg: 1607495829.48 epoch sec; seqNo:1077 2020-12-09T06:37:09Z- AHRS_M2 msg: 4.60 phi; -0.00 theta; -0.21 psi 2020-12-09T06:37:09Z- waiting for 1607495830.08, time is 1607495828.30 2020-12-09T06:37:09Z- sync is 1.19, coherence is 2.00 2020-12-09T06:37:09Z- handleDepth()-Depth_Keller msg: 50.89 epoch sec; seqNo:1607495829498; depth 0.00 2020-12-09T06:37:09Z- waiting for 1607495830.08, time is 1607495828.30 2020-12-09T06:37:09Z- sync is 1.19, coherence is 2.00 2020-12-09T06:37:09Z- handleDvl() - RDI_Pathfinder msg: 1607495829.52 epoch sec; seqNo:609 2020-12-09T06:37:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.43 , 43.22 , 41.72 , 36.11 2020-12-09T06:37:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.10 , 0.28 2020-12-09T06:37:09Z- waiting for 1607495830.08, time is 1607495829.52 2020-12-09T06:37:09Z- sync is 0.03, coherence is 2.00 2020-12-09T06:37:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495829.53 epoch sec; seqNo:1114; 4061663.69 north; 594322.24 east 2020-12-09T06:37:09Z- waiting for 1607495830.08, time is 1607495829.52 2020-12-09T06:37:09Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:09Z- AHRS_M2 msg: 1607495829.89 epoch sec; seqNo:1078 2020-12-09T06:37:09Z- AHRS_M2 msg: 4.59 phi; -0.00 theta; -0.22 psi 2020-12-09T06:37:09Z- waiting for 1607495830.08, time is 1607495829.52 2020-12-09T06:37:09Z- sync is 0.37, coherence is 2.00 2020-12-09T06:37:09Z- handleDepth()-Depth_Keller msg: 50.96 epoch sec; seqNo:1607495829895; depth 0.00 2020-12-09T06:37:09Z- waiting for 1607495830.08, time is 1607495829.52 2020-12-09T06:37:09Z- sync is 0.37, coherence is 2.00 2020-12-09T06:37:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495829.91 epoch sec; seqNo:1115; 4061663.69 north; 594322.24 east 2020-12-09T06:37:09Z- waiting for 1607495830.08, time is 1607495829.52 2020-12-09T06:37:09Z- sync is 0.39, coherence is 2.00 2020-12-09T06:37:10Z- AHRS_M2 msg: 1607495830.30 epoch sec; seqNo:1079 2020-12-09T06:37:10Z- AHRS_M2 msg: 4.59 phi; -0.00 theta; -0.22 psi 2020-12-09T06:37:10Z- waiting for 1607495830.08, time is 1607495829.52 2020-12-09T06:37:10Z- sync is 0.78, coherence is 2.00 2020-12-09T06:37:10Z- handleDepth()-Depth_Keller msg: 51.01 epoch sec; seqNo:1607495830308; depth 0.00 2020-12-09T06:37:10Z- waiting for 1607495830.08, time is 1607495829.52 2020-12-09T06:37:10Z- sync is 0.78, coherence is 2.00 2020-12-09T06:37:10Z- handleDvl() - RDI_Pathfinder msg: 1607495830.32 epoch sec; seqNo:610 2020-12-09T06:37:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.24 , 43.78 , 42.28 , 36.30 2020-12-09T06:37:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.00 , 0.31 2020-12-09T06:37:10Z- waiting for 1607495830.08, time is 1607495830.32 2020-12-09T06:37:10Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:10Z- LcmTrn::updateTrn() >>>> pose time 1607495830.30, meas time 1607495830.32 <<<< 2020-12-09T06:37:10Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495830.32 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:37:10Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594322.24, 51.01) 2020-12-09T06:37:10Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:37:10Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:37:10Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:37:10Z- TNavBF::mmse selected from filter -1 2020-12-09T06:37:10Z- variances([0], [2], and psi_berg) = 797.655201 833.097904 0.000000 2020-12-09T06:37:10Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:37:10Z- LcmTrn::cycle() - MLE : 4061635.19 594274.74 51.01 2020-12-09T06:37:10Z- LcmTrn::cycle() - MMSE : 4061663.69 594322.24 51.01 2020-12-09T06:37:10Z- LcmTrn::cycle() - COVAR: 797.66 833.10 45.90 0.00 2020-12-09T06:37:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495830.33 epoch sec; seqNo:1116; 4061663.69 north; 594322.24 east 2020-12-09T06:37:10Z- waiting for 1607495833.32, time is 1607495830.32 2020-12-09T06:37:10Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:10Z- AHRS_M2 msg: 1607495830.70 epoch sec; seqNo:1080 2020-12-09T06:37:10Z- AHRS_M2 msg: 4.59 phi; -0.00 theta; -0.22 psi 2020-12-09T06:37:10Z- waiting for 1607495833.32, time is 1607495830.32 2020-12-09T06:37:10Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:10Z- handleDepth()-Depth_Keller msg: 51.06 epoch sec; seqNo:1607495830703; depth 0.00 2020-12-09T06:37:10Z- waiting for 1607495833.32, time is 1607495830.32 2020-12-09T06:37:10Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:10Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:10Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:10Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:10Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:37:10Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:37:10Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:37:10Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:37:10Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:37:10Z- handleDvl() - RDI_Pathfinder msg: 1607495830.70 epoch sec; seqNo:611 2020-12-09T06:37:10Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:37:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.00 , 0.31 2020-12-09T06:37:10Z- waiting for 1607495833.32, time is 1607495830.70 2020-12-09T06:37:10Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495830.73 epoch sec; seqNo:1117; 4061663.67 north; 594321.02 east 2020-12-09T06:37:10Z- waiting for 1607495833.32, time is 1607495830.70 2020-12-09T06:37:10Z- sync is 0.03, coherence is 2.00 2020-12-09T06:37:11Z- AHRS_M2 msg: 1607495831.10 epoch sec; seqNo:1081 2020-12-09T06:37:11Z- AHRS_M2 msg: 4.59 phi; 0.00 theta; -0.22 psi 2020-12-09T06:37:11Z- waiting for 1607495833.32, time is 1607495830.70 2020-12-09T06:37:11Z- sync is 0.40, coherence is 2.00 2020-12-09T06:37:11Z- handleDepth()-Depth_Keller msg: 51.11 epoch sec; seqNo:1607495831106; depth 0.00 2020-12-09T06:37:11Z- waiting for 1607495833.32, time is 1607495830.70 2020-12-09T06:37:11Z- sync is 0.40, coherence is 2.00 2020-12-09T06:37:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495831.12 epoch sec; seqNo:1118; 4061663.67 north; 594321.02 east 2020-12-09T06:37:11Z- waiting for 1607495833.32, time is 1607495830.70 2020-12-09T06:37:11Z- sync is 0.41, coherence is 2.00 2020-12-09T06:37:11Z- AHRS_M2 msg: 1607495831.51 epoch sec; seqNo:1082 2020-12-09T06:37:11Z- AHRS_M2 msg: 4.59 phi; 0.00 theta; -0.22 psi 2020-12-09T06:37:11Z- waiting for 1607495833.32, time is 1607495830.70 2020-12-09T06:37:11Z- sync is 0.81, coherence is 2.00 2020-12-09T06:37:11Z- handleDepth()-Depth_Keller msg: 51.15 epoch sec; seqNo:1607495831518; depth 0.00 2020-12-09T06:37:11Z- waiting for 1607495833.32, time is 1607495830.70 2020-12-09T06:37:11Z- sync is 0.81, coherence is 2.00 2020-12-09T06:37:11Z- handleDvl() - RDI_Pathfinder msg: 1607495831.53 epoch sec; seqNo:612 2020-12-09T06:37:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.80 , 44.16 , 42.85 , 36.86 2020-12-09T06:37:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.62 , -0.12 , 0.25 2020-12-09T06:37:11Z- waiting for 1607495833.32, time is 1607495831.53 2020-12-09T06:37:11Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495831.54 epoch sec; seqNo:1119; 4061663.67 north; 594321.02 east 2020-12-09T06:37:11Z- waiting for 1607495833.32, time is 1607495831.53 2020-12-09T06:37:11Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:11Z- AHRS_M2 msg: 1607495831.91 epoch sec; seqNo:1083 2020-12-09T06:37:11Z- AHRS_M2 msg: 4.59 phi; 0.00 theta; -0.22 psi 2020-12-09T06:37:11Z- waiting for 1607495833.32, time is 1607495831.53 2020-12-09T06:37:11Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:11Z- handleDepth()-Depth_Keller msg: 51.17 epoch sec; seqNo:1607495831915; depth 0.00 2020-12-09T06:37:11Z- waiting for 1607495833.32, time is 1607495831.53 2020-12-09T06:37:11Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:11Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:11Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:11Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:11Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:37:11Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:37:11Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:37:11Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:37:11Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:37:11Z- handleDvl() - RDI_Pathfinder msg: 1607495831.92 epoch sec; seqNo:613 2020-12-09T06:37:11Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:37:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.62 , -0.12 , 0.25 2020-12-09T06:37:11Z- waiting for 1607495833.32, time is 1607495831.92 2020-12-09T06:37:11Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495831.94 epoch sec; seqNo:1120; 4061663.67 north; 594321.02 east 2020-12-09T06:37:11Z- waiting for 1607495833.32, time is 1607495831.92 2020-12-09T06:37:11Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:12Z- AHRS_M2 msg: 1607495832.32 epoch sec; seqNo:1084 2020-12-09T06:37:12Z- AHRS_M2 msg: 4.60 phi; 0.00 theta; -0.22 psi 2020-12-09T06:37:12Z- waiting for 1607495833.32, time is 1607495831.92 2020-12-09T06:37:12Z- sync is 0.40, coherence is 2.00 2020-12-09T06:37:12Z- handleDepth()-Depth_Keller msg: 51.20 epoch sec; seqNo:1607495832322; depth 0.00 2020-12-09T06:37:12Z- waiting for 1607495833.32, time is 1607495831.92 2020-12-09T06:37:12Z- sync is 0.40, coherence is 2.00 2020-12-09T06:37:12Z- handleDvl() - RDI_Pathfinder msg: 1607495832.33 epoch sec; seqNo:614 2020-12-09T06:37:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.11 , 43.97 , 42.85 , 37.05 2020-12-09T06:37:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.51 , -0.19 , 0.15 2020-12-09T06:37:12Z- waiting for 1607495833.32, time is 1607495832.33 2020-12-09T06:37:12Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495832.36 epoch sec; seqNo:1121; 4061663.66 north; 594319.80 east 2020-12-09T06:37:12Z- waiting for 1607495833.32, time is 1607495832.33 2020-12-09T06:37:12Z- sync is 0.03, coherence is 2.00 2020-12-09T06:37:12Z- AHRS_M2 msg: 1607495832.72 epoch sec; seqNo:1085 2020-12-09T06:37:12Z- AHRS_M2 msg: 4.60 phi; 0.00 theta; -0.22 psi 2020-12-09T06:37:12Z- waiting for 1607495833.32, time is 1607495832.33 2020-12-09T06:37:12Z- sync is 0.39, coherence is 2.00 2020-12-09T06:37:12Z- handleDepth()-Depth_Keller msg: 51.22 epoch sec; seqNo:1607495832728; depth 0.00 2020-12-09T06:37:12Z- waiting for 1607495833.32, time is 1607495832.33 2020-12-09T06:37:12Z- sync is 0.39, coherence is 2.00 2020-12-09T06:37:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495832.78 epoch sec; seqNo:1122; 4061663.28 north; 594319.80 east 2020-12-09T06:37:12Z- waiting for 1607495833.32, time is 1607495832.33 2020-12-09T06:37:12Z- sync is 0.45, coherence is 2.00 2020-12-09T06:37:13Z- AHRS_M2 msg: 1607495833.12 epoch sec; seqNo:1086 2020-12-09T06:37:13Z- AHRS_M2 msg: 4.61 phi; 0.01 theta; -0.22 psi 2020-12-09T06:37:13Z- waiting for 1607495833.32, time is 1607495832.33 2020-12-09T06:37:13Z- sync is 0.79, coherence is 2.00 2020-12-09T06:37:13Z- handleDepth()-Depth_Keller msg: 51.23 epoch sec; seqNo:1607495833132; depth 0.00 2020-12-09T06:37:13Z- waiting for 1607495833.32, time is 1607495832.33 2020-12-09T06:37:13Z- sync is 0.79, coherence is 2.00 2020-12-09T06:37:13Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:13Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:13Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:13Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:37:13Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:37:13Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:37:13Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:37:13Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:37:13Z- handleDvl() - RDI_Pathfinder msg: 1607495833.14 epoch sec; seqNo:615 2020-12-09T06:37:13Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:37:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.51 , -0.19 , 0.15 2020-12-09T06:37:13Z- waiting for 1607495833.32, time is 1607495833.14 2020-12-09T06:37:13Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495833.14 epoch sec; seqNo:1123; 4061663.28 north; 594319.80 east 2020-12-09T06:37:13Z- waiting for 1607495833.32, time is 1607495833.14 2020-12-09T06:37:13Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:13Z- AHRS_M2 msg: 1607495833.53 epoch sec; seqNo:1087 2020-12-09T06:37:13Z- AHRS_M2 msg: 4.62 phi; 0.01 theta; -0.22 psi 2020-12-09T06:37:13Z- waiting for 1607495833.32, time is 1607495833.14 2020-12-09T06:37:13Z- sync is 0.39, coherence is 2.00 2020-12-09T06:37:13Z- handleDepth()-Depth_Keller msg: 51.22 epoch sec; seqNo:1607495833604; depth 0.00 2020-12-09T06:37:13Z- waiting for 1607495833.32, time is 1607495833.14 2020-12-09T06:37:13Z- sync is 0.39, coherence is 2.00 2020-12-09T06:37:13Z- handleDvl() - RDI_Pathfinder msg: 1607495833.62 epoch sec; seqNo:616 2020-12-09T06:37:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.48 , 44.15 , 42.65 , 37.23 2020-12-09T06:37:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.48 , -0.24 , 0.03 2020-12-09T06:37:13Z- waiting for 1607495833.32, time is 1607495833.62 2020-12-09T06:37:13Z- sync is 0.09, coherence is 2.00 2020-12-09T06:37:13Z- LcmTrn::updateTrn() >>>> pose time 1607495833.53, meas time 1607495833.62 <<<< 2020-12-09T06:37:13Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495833.62 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:37:13Z- TerrainNav::motionUpdate() - currEstimate = (4061663, 594319.80, 51.22) 2020-12-09T06:37:13Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:37:13Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:37:13Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:37:13Z- TNavBF::mmse selected from filter -1 2020-12-09T06:37:13Z- variances([0], [2], and psi_berg) = 797.486891 833.097559 0.000000 2020-12-09T06:37:13Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:37:13Z- LcmTrn::cycle() - MLE : 4061634.78 594272.30 51.22 2020-12-09T06:37:13Z- LcmTrn::cycle() - MMSE : 4061663.28 594319.80 51.22 2020-12-09T06:37:13Z- LcmTrn::cycle() - COVAR: 797.49 833.10 46.03 0.00 2020-12-09T06:37:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495833.63 epoch sec; seqNo:1124; 4061663.28 north; 594319.80 east 2020-12-09T06:37:13Z- waiting for 1607495836.62, time is 1607495833.62 2020-12-09T06:37:13Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:13Z- AHRS_M2 msg: 1607495833.93 epoch sec; seqNo:1088 2020-12-09T06:37:13Z- AHRS_M2 msg: 4.62 phi; 0.01 theta; -0.21 psi 2020-12-09T06:37:13Z- waiting for 1607495836.62, time is 1607495833.62 2020-12-09T06:37:13Z- sync is 0.32, coherence is 2.00 2020-12-09T06:37:14Z- handleDepth()-Depth_Keller msg: 51.21 epoch sec; seqNo:1607495834048; depth 0.00 2020-12-09T06:37:14Z- waiting for 1607495836.62, time is 1607495833.62 2020-12-09T06:37:14Z- sync is 0.32, coherence is 2.00 2020-12-09T06:37:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495834.06 epoch sec; seqNo:1125; 4061663.28 north; 594319.80 east 2020-12-09T06:37:14Z- waiting for 1607495836.62, time is 1607495833.62 2020-12-09T06:37:14Z- sync is 0.44, coherence is 2.00 2020-12-09T06:37:14Z- AHRS_M2 msg: 1607495834.34 epoch sec; seqNo:1089 2020-12-09T06:37:14Z- AHRS_M2 msg: 4.63 phi; 0.01 theta; -0.21 psi 2020-12-09T06:37:14Z- waiting for 1607495836.62, time is 1607495833.62 2020-12-09T06:37:14Z- sync is 0.72, coherence is 2.00 2020-12-09T06:37:14Z- handleDepth()-Depth_Keller msg: 51.19 epoch sec; seqNo:1607495834363; depth 0.00 2020-12-09T06:37:14Z- waiting for 1607495836.62, time is 1607495833.62 2020-12-09T06:37:14Z- sync is 0.72, coherence is 2.00 2020-12-09T06:37:14Z- handleDvl() - RDI_Pathfinder msg: 1607495834.38 epoch sec; seqNo:617 2020-12-09T06:37:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.04 , 43.03 , 42.65 , 37.23 2020-12-09T06:37:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.51 , -0.21 , -0.10 2020-12-09T06:37:14Z- waiting for 1607495836.62, time is 1607495834.38 2020-12-09T06:37:14Z- sync is 0.04, coherence is 2.00 2020-12-09T06:37:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495834.41 epoch sec; seqNo:1126; 4061662.90 north; 594319.81 east 2020-12-09T06:37:14Z- waiting for 1607495836.62, time is 1607495834.38 2020-12-09T06:37:14Z- sync is 0.03, coherence is 2.00 2020-12-09T06:37:14Z- AHRS_M2 msg: 1607495834.74 epoch sec; seqNo:1090 2020-12-09T06:37:14Z- AHRS_M2 msg: 4.64 phi; 0.02 theta; -0.20 psi 2020-12-09T06:37:14Z- waiting for 1607495836.62, time is 1607495834.38 2020-12-09T06:37:14Z- sync is 0.36, coherence is 2.00 2020-12-09T06:37:14Z- handleDepth()-Depth_Keller msg: 51.16 epoch sec; seqNo:1607495834762; depth 0.00 2020-12-09T06:37:14Z- waiting for 1607495836.62, time is 1607495834.38 2020-12-09T06:37:14Z- sync is 0.36, coherence is 2.00 2020-12-09T06:37:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495834.78 epoch sec; seqNo:1127; 4061662.90 north; 594319.81 east 2020-12-09T06:37:14Z- waiting for 1607495836.62, time is 1607495834.38 2020-12-09T06:37:14Z- sync is 0.40, coherence is 2.00 2020-12-09T06:37:15Z- AHRS_M2 msg: 1607495835.15 epoch sec; seqNo:1091 2020-12-09T06:37:15Z- AHRS_M2 msg: 4.66 phi; 0.02 theta; -0.19 psi 2020-12-09T06:37:15Z- waiting for 1607495836.62, time is 1607495834.38 2020-12-09T06:37:15Z- sync is 0.77, coherence is 2.00 2020-12-09T06:37:15Z- handleDepth()-Depth_Keller msg: 51.11 epoch sec; seqNo:1607495835183; depth 0.00 2020-12-09T06:37:15Z- waiting for 1607495836.62, time is 1607495834.38 2020-12-09T06:37:15Z- sync is 0.77, coherence is 2.00 2020-12-09T06:37:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495835.19 epoch sec; seqNo:1128; 4061662.89 north; 594318.59 east 2020-12-09T06:37:15Z- waiting for 1607495836.62, time is 1607495834.38 2020-12-09T06:37:15Z- sync is 0.82, coherence is 2.00 2020-12-09T06:37:15Z- AHRS_M2 msg: 1607495835.55 epoch sec; seqNo:1092 2020-12-09T06:37:15Z- AHRS_M2 msg: 4.67 phi; 0.03 theta; -0.19 psi 2020-12-09T06:37:15Z- waiting for 1607495836.62, time is 1607495834.38 2020-12-09T06:37:15Z- sync is 1.18, coherence is 2.00 2020-12-09T06:37:15Z- handleDepth()-Depth_Keller msg: 51.05 epoch sec; seqNo:1607495835559; depth 0.00 2020-12-09T06:37:15Z- waiting for 1607495836.62, time is 1607495834.38 2020-12-09T06:37:15Z- sync is 1.18, coherence is 2.00 2020-12-09T06:37:15Z- handleDvl() - RDI_Pathfinder msg: 1607495835.57 epoch sec; seqNo:618 2020-12-09T06:37:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.67 , 41.16 , 42.47 , 37.05 2020-12-09T06:37:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.61 , -0.15 , -0.20 2020-12-09T06:37:15Z- waiting for 1607495836.62, time is 1607495835.57 2020-12-09T06:37:15Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495835.60 epoch sec; seqNo:1129; 4061662.89 north; 594318.59 east 2020-12-09T06:37:15Z- waiting for 1607495836.62, time is 1607495835.57 2020-12-09T06:37:15Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:15Z- AHRS_M2 msg: 1607495835.95 epoch sec; seqNo:1093 2020-12-09T06:37:15Z- AHRS_M2 msg: 4.68 phi; 0.03 theta; -0.18 psi 2020-12-09T06:37:15Z- waiting for 1607495836.62, time is 1607495835.57 2020-12-09T06:37:15Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:15Z- handleDepth()-Depth_Keller msg: 51.00 epoch sec; seqNo:1607495835955; depth 0.00 2020-12-09T06:37:15Z- waiting for 1607495836.62, time is 1607495835.57 2020-12-09T06:37:15Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495835.97 epoch sec; seqNo:1130; 4061662.51 north; 594318.59 east 2020-12-09T06:37:15Z- waiting for 1607495836.62, time is 1607495835.57 2020-12-09T06:37:15Z- sync is 0.40, coherence is 2.00 2020-12-09T06:37:16Z- AHRS_M2 msg: 1607495836.35 epoch sec; seqNo:1094 2020-12-09T06:37:16Z- AHRS_M2 msg: 4.68 phi; 0.03 theta; -0.18 psi 2020-12-09T06:37:16Z- waiting for 1607495836.62, time is 1607495835.57 2020-12-09T06:37:16Z- sync is 0.78, coherence is 2.00 2020-12-09T06:37:16Z- handleDepth()-Depth_Keller msg: 50.95 epoch sec; seqNo:1607495836364; depth 0.00 2020-12-09T06:37:16Z- waiting for 1607495836.62, time is 1607495835.57 2020-12-09T06:37:16Z- sync is 0.78, coherence is 2.00 2020-12-09T06:37:16Z- handleDvl() - RDI_Pathfinder msg: 1607495836.38 epoch sec; seqNo:619 2020-12-09T06:37:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.05 , 37.42 , 42.47 , 36.49 2020-12-09T06:37:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.06 , -0.26 2020-12-09T06:37:16Z- waiting for 1607495836.62, time is 1607495836.38 2020-12-09T06:37:16Z- sync is 0.03, coherence is 2.00 2020-12-09T06:37:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495836.39 epoch sec; seqNo:1131; 4061662.51 north; 594318.59 east 2020-12-09T06:37:16Z- waiting for 1607495836.62, time is 1607495836.38 2020-12-09T06:37:16Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:16Z- AHRS_M2 msg: 1607495836.76 epoch sec; seqNo:1095 2020-12-09T06:37:16Z- AHRS_M2 msg: 4.69 phi; 0.04 theta; -0.18 psi 2020-12-09T06:37:16Z- waiting for 1607495836.62, time is 1607495836.38 2020-12-09T06:37:16Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:16Z- handleDepth()-Depth_Keller msg: 50.87 epoch sec; seqNo:1607495836761; depth 0.00 2020-12-09T06:37:16Z- waiting for 1607495836.62, time is 1607495836.38 2020-12-09T06:37:16Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:16Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:16Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:16Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:16Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:37:16Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:37:16Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:37:16Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:37:16Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:37:16Z- handleDvl() - RDI_Pathfinder msg: 1607495836.76 epoch sec; seqNo:620 2020-12-09T06:37:16Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:37:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.06 , -0.26 2020-12-09T06:37:16Z- waiting for 1607495836.62, time is 1607495836.76 2020-12-09T06:37:16Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:16Z- LcmTrn::updateTrn() >>>> pose time 1607495836.76, meas time 1607495836.76 <<<< 2020-12-09T06:37:16Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495836.76, ping # 0. 2020-12-09T06:37:16Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495836.76 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:37:16Z- TerrainNav::motionUpdate() - currEstimate = (4061663, 594318.59, 50.87) 2020-12-09T06:37:16Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:37:16Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:37:16Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:37:16Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:37:16Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:37:16Z- TNavBF::mmse selected from filter -1 2020-12-09T06:37:16Z- variances([0], [2], and psi_berg) = 797.359006 833.097298 0.000000 2020-12-09T06:37:16Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:37:16Z- LcmTrn::cycle() - MLE : 4061634.01 594271.09 50.87 2020-12-09T06:37:16Z- LcmTrn::cycle() - MMSE : 4061662.51 594318.59 50.87 2020-12-09T06:37:16Z- LcmTrn::cycle() - COVAR: 797.36 833.10 46.10 0.00 2020-12-09T06:37:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495836.79 epoch sec; seqNo:1132; 4061662.50 north; 594317.37 east 2020-12-09T06:37:16Z- waiting for 1607495839.76, time is 1607495836.76 2020-12-09T06:37:16Z- sync is 0.03, coherence is 2.00 2020-12-09T06:37:17Z- AHRS_M2 msg: 1607495837.16 epoch sec; seqNo:1096 2020-12-09T06:37:17Z- AHRS_M2 msg: 4.69 phi; 0.04 theta; -0.18 psi 2020-12-09T06:37:17Z- waiting for 1607495839.76, time is 1607495836.76 2020-12-09T06:37:17Z- sync is 0.40, coherence is 2.00 2020-12-09T06:37:17Z- handleDepth()-Depth_Keller msg: 50.81 epoch sec; seqNo:1607495837166; depth 0.00 2020-12-09T06:37:17Z- waiting for 1607495839.76, time is 1607495836.76 2020-12-09T06:37:17Z- sync is 0.40, coherence is 2.00 2020-12-09T06:37:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495837.18 epoch sec; seqNo:1133; 4061662.50 north; 594317.37 east 2020-12-09T06:37:17Z- waiting for 1607495839.76, time is 1607495836.76 2020-12-09T06:37:17Z- sync is 0.42, coherence is 2.00 2020-12-09T06:37:17Z- AHRS_M2 msg: 1607495837.57 epoch sec; seqNo:1097 2020-12-09T06:37:17Z- AHRS_M2 msg: 4.69 phi; 0.04 theta; -0.18 psi 2020-12-09T06:37:17Z- waiting for 1607495839.76, time is 1607495836.76 2020-12-09T06:37:17Z- sync is 0.81, coherence is 2.00 2020-12-09T06:37:17Z- handleDepth()-Depth_Keller msg: 50.75 epoch sec; seqNo:1607495837578; depth 0.00 2020-12-09T06:37:17Z- waiting for 1607495839.76, time is 1607495836.76 2020-12-09T06:37:17Z- sync is 0.81, coherence is 2.00 2020-12-09T06:37:17Z- handleDvl() - RDI_Pathfinder msg: 1607495837.59 epoch sec; seqNo:621 2020-12-09T06:37:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.49 , 37.05 , 42.28 , 36.30 2020-12-09T06:37:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.03 , -0.25 2020-12-09T06:37:17Z- waiting for 1607495839.76, time is 1607495837.59 2020-12-09T06:37:17Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495837.61 epoch sec; seqNo:1134; 4061662.50 north; 594317.37 east 2020-12-09T06:37:17Z- waiting for 1607495839.76, time is 1607495837.59 2020-12-09T06:37:17Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:17Z- AHRS_M2 msg: 1607495837.97 epoch sec; seqNo:1098 2020-12-09T06:37:17Z- AHRS_M2 msg: 4.70 phi; 0.04 theta; -0.17 psi 2020-12-09T06:37:17Z- waiting for 1607495839.76, time is 1607495837.59 2020-12-09T06:37:17Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:17Z- handleDepth()-Depth_Keller msg: 50.66 epoch sec; seqNo:1607495837988; depth 0.00 2020-12-09T06:37:17Z- waiting for 1607495839.76, time is 1607495837.59 2020-12-09T06:37:17Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:17Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:17Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:17Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:17Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:37:17Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:37:17Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:37:17Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:37:17Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:37:17Z- handleDvl() - RDI_Pathfinder msg: 1607495837.99 epoch sec; seqNo:622 2020-12-09T06:37:17Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:37:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.03 , -0.25 2020-12-09T06:37:17Z- waiting for 1607495839.76, time is 1607495837.99 2020-12-09T06:37:17Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495838.00 epoch sec; seqNo:1135; 4061662.50 north; 594317.37 east 2020-12-09T06:37:17Z- waiting for 1607495839.76, time is 1607495837.99 2020-12-09T06:37:17Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:18Z- AHRS_M2 msg: 1607495838.37 epoch sec; seqNo:1099 2020-12-09T06:37:18Z- AHRS_M2 msg: 4.70 phi; 0.04 theta; -0.17 psi 2020-12-09T06:37:18Z- waiting for 1607495839.76, time is 1607495837.99 2020-12-09T06:37:18Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:18Z- handleDepth()-Depth_Keller msg: 50.62 epoch sec; seqNo:1607495838379; depth 0.00 2020-12-09T06:37:18Z- waiting for 1607495839.76, time is 1607495837.99 2020-12-09T06:37:18Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:18Z- handleDvl() - RDI_Pathfinder msg: 1607495838.39 epoch sec; seqNo:623 2020-12-09T06:37:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.57 , 36.57 , 42.52 , 36.74 2020-12-09T06:37:18Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.06 , -0.22 2020-12-09T06:37:18Z- waiting for 1607495839.76, time is 1607495838.39 2020-12-09T06:37:18Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495838.42 epoch sec; seqNo:1136; 4061662.48 north; 594316.15 east 2020-12-09T06:37:18Z- waiting for 1607495839.76, time is 1607495838.39 2020-12-09T06:37:18Z- sync is 0.03, coherence is 2.00 2020-12-09T06:37:18Z- AHRS_M2 msg: 1607495838.78 epoch sec; seqNo:1100 2020-12-09T06:37:18Z- AHRS_M2 msg: 4.70 phi; 0.04 theta; -0.17 psi 2020-12-09T06:37:18Z- waiting for 1607495839.76, time is 1607495838.39 2020-12-09T06:37:18Z- sync is 0.39, coherence is 2.00 2020-12-09T06:37:18Z- handleDepth()-Depth_Keller msg: 50.55 epoch sec; seqNo:1607495838782; depth 0.00 2020-12-09T06:37:18Z- waiting for 1607495839.76, time is 1607495838.39 2020-12-09T06:37:18Z- sync is 0.39, coherence is 2.00 2020-12-09T06:37:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495838.79 epoch sec; seqNo:1137; 4061662.48 north; 594316.15 east 2020-12-09T06:37:18Z- waiting for 1607495839.76, time is 1607495838.39 2020-12-09T06:37:18Z- sync is 0.40, coherence is 2.00 2020-12-09T06:37:19Z- AHRS_M2 msg: 1607495839.19 epoch sec; seqNo:1101 2020-12-09T06:37:19Z- AHRS_M2 msg: 4.69 phi; 0.04 theta; -0.17 psi 2020-12-09T06:37:19Z- waiting for 1607495839.76, time is 1607495838.39 2020-12-09T06:37:19Z- sync is 0.80, coherence is 2.00 2020-12-09T06:37:19Z- handleDepth()-Depth_Keller msg: 50.50 epoch sec; seqNo:1607495839196; depth 0.00 2020-12-09T06:37:19Z- waiting for 1607495839.76, time is 1607495838.39 2020-12-09T06:37:19Z- sync is 0.80, coherence is 2.00 2020-12-09T06:37:19Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:19Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:19Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:19Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:37:19Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:37:19Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:37:19Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:37:19Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:37:19Z- handleDvl() - RDI_Pathfinder msg: 1607495839.20 epoch sec; seqNo:624 2020-12-09T06:37:19Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:37:19Z- handleDvl() - RDI_Pathfinder msg: velocities 1.04 , 0.06 , -0.22 2020-12-09T06:37:19Z- waiting for 1607495839.76, time is 1607495839.20 2020-12-09T06:37:19Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495839.25 epoch sec; seqNo:1138; 4061662.48 north; 594316.15 east 2020-12-09T06:37:19Z- waiting for 1607495839.76, time is 1607495839.20 2020-12-09T06:37:19Z- sync is 0.04, coherence is 2.00 2020-12-09T06:37:19Z- AHRS_M2 msg: 1607495839.59 epoch sec; seqNo:1102 2020-12-09T06:37:19Z- AHRS_M2 msg: 4.69 phi; 0.05 theta; -0.18 psi 2020-12-09T06:37:19Z- waiting for 1607495839.76, time is 1607495839.20 2020-12-09T06:37:19Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:19Z- handleDepth()-Depth_Keller msg: 50.46 epoch sec; seqNo:1607495839599; depth 0.00 2020-12-09T06:37:19Z- waiting for 1607495839.76, time is 1607495839.20 2020-12-09T06:37:19Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:19Z- handleDvl() - RDI_Pathfinder msg: 1607495839.63 epoch sec; seqNo:625 2020-12-09T06:37:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.67 , 36.30 , 42.47 , 36.30 2020-12-09T06:37:19Z- handleDvl() - RDI_Pathfinder msg: velocities 1.14 , 0.11 , -0.16 2020-12-09T06:37:19Z- waiting for 1607495839.76, time is 1607495839.63 2020-12-09T06:37:19Z- sync is 0.04, coherence is 2.00 2020-12-09T06:37:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495839.64 epoch sec; seqNo:1139; 4061662.47 north; 594314.93 east 2020-12-09T06:37:19Z- waiting for 1607495839.76, time is 1607495839.63 2020-12-09T06:37:19Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:19Z- AHRS_M2 msg: 1607495839.99 epoch sec; seqNo:1103 2020-12-09T06:37:19Z- AHRS_M2 msg: 4.69 phi; 0.05 theta; -0.18 psi 2020-12-09T06:37:19Z- waiting for 1607495839.76, time is 1607495839.63 2020-12-09T06:37:19Z- sync is 0.36, coherence is 2.00 2020-12-09T06:37:19Z- handleDepth()-Depth_Keller msg: 50.43 epoch sec; seqNo:1607495839994; depth 0.00 2020-12-09T06:37:19Z- waiting for 1607495839.76, time is 1607495839.63 2020-12-09T06:37:19Z- sync is 0.36, coherence is 2.00 2020-12-09T06:37:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495840.01 epoch sec; seqNo:1140; 4061662.47 north; 594314.93 east 2020-12-09T06:37:19Z- waiting for 1607495839.76, time is 1607495839.63 2020-12-09T06:37:19Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:20Z- AHRS_M2 msg: 1607495840.39 epoch sec; seqNo:1104 2020-12-09T06:37:20Z- AHRS_M2 msg: 4.69 phi; 0.05 theta; -0.18 psi 2020-12-09T06:37:20Z- waiting for 1607495839.76, time is 1607495839.63 2020-12-09T06:37:20Z- sync is 0.77, coherence is 2.00 2020-12-09T06:37:20Z- handleDepth()-Depth_Keller msg: 50.40 epoch sec; seqNo:1607495840402; depth 0.00 2020-12-09T06:37:20Z- waiting for 1607495839.76, time is 1607495839.63 2020-12-09T06:37:20Z- sync is 0.77, coherence is 2.00 2020-12-09T06:37:20Z- handleDvl() - RDI_Pathfinder msg: 1607495840.41 epoch sec; seqNo:626 2020-12-09T06:37:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.57 , 37.76 , 42.52 , 36.23 2020-12-09T06:37:20Z- handleDvl() - RDI_Pathfinder msg: velocities 1.20 , 0.14 , -0.07 2020-12-09T06:37:20Z- waiting for 1607495839.76, time is 1607495840.41 2020-12-09T06:37:20Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:20Z- LcmTrn::updateTrn() >>>> pose time 1607495840.39, meas time 1607495840.41 <<<< 2020-12-09T06:37:20Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495840.41 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:37:20Z- TerrainNav::motionUpdate() - currEstimate = (4061662, 594314.93, 50.40) 2020-12-09T06:37:20Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:37:20Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:37:20Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:37:20Z- TNavBF::mmse selected from filter -1 2020-12-09T06:37:20Z- variances([0], [2], and psi_berg) = 797.155392 833.096884 0.000000 2020-12-09T06:37:20Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:37:20Z- LcmTrn::cycle() - MLE : 4061633.97 594267.43 50.40 2020-12-09T06:37:20Z- LcmTrn::cycle() - MMSE : 4061662.47 594314.93 50.40 2020-12-09T06:37:20Z- LcmTrn::cycle() - COVAR: 797.16 833.10 46.29 0.00 2020-12-09T06:37:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495840.43 epoch sec; seqNo:1141; 4061662.46 north; 594313.71 east 2020-12-09T06:37:20Z- waiting for 1607495843.41, time is 1607495840.41 2020-12-09T06:37:20Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:20Z- AHRS_M2 msg: 1607495840.80 epoch sec; seqNo:1105 2020-12-09T06:37:20Z- AHRS_M2 msg: 4.69 phi; 0.05 theta; -0.18 psi 2020-12-09T06:37:20Z- waiting for 1607495843.41, time is 1607495840.41 2020-12-09T06:37:20Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:20Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1607495840812; depth 0.00 2020-12-09T06:37:20Z- waiting for 1607495843.41, time is 1607495840.41 2020-12-09T06:37:20Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495840.83 epoch sec; seqNo:1142; 4061662.46 north; 594313.71 east 2020-12-09T06:37:20Z- waiting for 1607495843.41, time is 1607495840.41 2020-12-09T06:37:20Z- sync is 0.41, coherence is 2.00 2020-12-09T06:37:21Z- AHRS_M2 msg: 1607495841.23 epoch sec; seqNo:1106 2020-12-09T06:37:21Z- AHRS_M2 msg: 4.68 phi; 0.05 theta; -0.18 psi 2020-12-09T06:37:21Z- waiting for 1607495843.41, time is 1607495840.41 2020-12-09T06:37:21Z- sync is 0.81, coherence is 2.00 2020-12-09T06:37:21Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1607495841238; depth 0.00 2020-12-09T06:37:21Z- waiting for 1607495843.41, time is 1607495840.41 2020-12-09T06:37:21Z- sync is 0.81, coherence is 2.00 2020-12-09T06:37:21Z- handleDvl() - RDI_Pathfinder msg: 1607495841.25 epoch sec; seqNo:627 2020-12-09T06:37:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.11 , 42.09 , 43.03 , 36.29 2020-12-09T06:37:21Z- handleDvl() - RDI_Pathfinder msg: velocities 1.21 , 0.17 , 0.01 2020-12-09T06:37:21Z- waiting for 1607495843.41, time is 1607495841.25 2020-12-09T06:37:21Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495841.26 epoch sec; seqNo:1143; 4061662.46 north; 594313.71 east 2020-12-09T06:37:21Z- waiting for 1607495843.41, time is 1607495841.25 2020-12-09T06:37:21Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:21Z- AHRS_M2 msg: 1607495841.61 epoch sec; seqNo:1107 2020-12-09T06:37:21Z- AHRS_M2 msg: 4.68 phi; 0.05 theta; -0.18 psi 2020-12-09T06:37:21Z- waiting for 1607495843.41, time is 1607495841.25 2020-12-09T06:37:21Z- sync is 0.36, coherence is 2.00 2020-12-09T06:37:21Z- handleDepth()-Depth_Keller msg: 50.40 epoch sec; seqNo:1607495841611; depth 0.00 2020-12-09T06:37:21Z- waiting for 1607495843.41, time is 1607495841.25 2020-12-09T06:37:21Z- sync is 0.36, coherence is 2.00 2020-12-09T06:37:21Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:21Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:21Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:21Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:37:21Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:37:21Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:37:21Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:37:21Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:37:21Z- handleDvl() - RDI_Pathfinder msg: 1607495841.61 epoch sec; seqNo:628 2020-12-09T06:37:21Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:37:21Z- handleDvl() - RDI_Pathfinder msg: velocities 1.21 , 0.17 , 0.01 2020-12-09T06:37:21Z- waiting for 1607495843.41, time is 1607495841.61 2020-12-09T06:37:21Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495841.62 epoch sec; seqNo:1144; 4061662.44 north; 594312.49 east 2020-12-09T06:37:21Z- waiting for 1607495843.41, time is 1607495841.61 2020-12-09T06:37:21Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:21Z- AHRS_M2 msg: 1607495842.01 epoch sec; seqNo:1108 2020-12-09T06:37:21Z- AHRS_M2 msg: 4.68 phi; 0.05 theta; -0.18 psi 2020-12-09T06:37:21Z- waiting for 1607495843.41, time is 1607495841.61 2020-12-09T06:37:21Z- sync is 0.40, coherence is 2.00 2020-12-09T06:37:21Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1607495842015; depth 0.00 2020-12-09T06:37:21Z- waiting for 1607495843.41, time is 1607495841.61 2020-12-09T06:37:21Z- sync is 0.40, coherence is 2.00 2020-12-09T06:37:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495842.03 epoch sec; seqNo:1145; 4061662.82 north; 594312.49 east 2020-12-09T06:37:21Z- waiting for 1607495843.41, time is 1607495841.61 2020-12-09T06:37:21Z- sync is 0.41, coherence is 2.00 2020-12-09T06:37:22Z- AHRS_M2 msg: 1607495842.41 epoch sec; seqNo:1109 2020-12-09T06:37:22Z- AHRS_M2 msg: 4.68 phi; 0.05 theta; -0.18 psi 2020-12-09T06:37:22Z- waiting for 1607495843.41, time is 1607495841.61 2020-12-09T06:37:22Z- sync is 0.80, coherence is 2.00 2020-12-09T06:37:22Z- handleDepth()-Depth_Keller msg: 50.43 epoch sec; seqNo:1607495842427; depth 0.00 2020-12-09T06:37:22Z- waiting for 1607495843.41, time is 1607495841.61 2020-12-09T06:37:22Z- sync is 0.80, coherence is 2.00 2020-12-09T06:37:22Z- handleDvl() - RDI_Pathfinder msg: 1607495842.44 epoch sec; seqNo:629 2020-12-09T06:37:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.29 , 42.28 , 43.22 , 36.67 2020-12-09T06:37:22Z- handleDvl() - RDI_Pathfinder msg: velocities 1.17 , 0.15 , 0.09 2020-12-09T06:37:22Z- waiting for 1607495843.41, time is 1607495842.44 2020-12-09T06:37:22Z- sync is 0.03, coherence is 2.00 2020-12-09T06:37:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495842.45 epoch sec; seqNo:1146; 4061662.81 north; 594311.27 east 2020-12-09T06:37:22Z- waiting for 1607495843.41, time is 1607495842.44 2020-12-09T06:37:22Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:22Z- AHRS_M2 msg: 1607495842.82 epoch sec; seqNo:1110 2020-12-09T06:37:22Z- AHRS_M2 msg: 4.67 phi; 0.05 theta; -0.18 psi 2020-12-09T06:37:22Z- waiting for 1607495843.41, time is 1607495842.44 2020-12-09T06:37:22Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:22Z- handleDepth()-Depth_Keller msg: 50.44 epoch sec; seqNo:1607495842829; depth 0.00 2020-12-09T06:37:22Z- waiting for 1607495843.41, time is 1607495842.44 2020-12-09T06:37:22Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:22Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:22Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:22Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:22Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:37:22Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:37:22Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:37:22Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:37:22Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:37:22Z- handleDvl() - RDI_Pathfinder msg: 1607495842.83 epoch sec; seqNo:630 2020-12-09T06:37:22Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:37:22Z- handleDvl() - RDI_Pathfinder msg: velocities 1.17 , 0.15 , 0.09 2020-12-09T06:37:22Z- waiting for 1607495843.41, time is 1607495842.83 2020-12-09T06:37:22Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495842.85 epoch sec; seqNo:1147; 4061662.81 north; 594311.27 east 2020-12-09T06:37:22Z- waiting for 1607495843.41, time is 1607495842.83 2020-12-09T06:37:22Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:23Z- AHRS_M2 msg: 1607495843.24 epoch sec; seqNo:1111 2020-12-09T06:37:23Z- AHRS_M2 msg: 4.67 phi; 0.04 theta; -0.18 psi 2020-12-09T06:37:23Z- waiting for 1607495843.41, time is 1607495842.83 2020-12-09T06:37:23Z- sync is 0.41, coherence is 2.00 2020-12-09T06:37:23Z- handleDepth()-Depth_Keller msg: 50.48 epoch sec; seqNo:1607495843247; depth 0.00 2020-12-09T06:37:23Z- waiting for 1607495843.41, time is 1607495842.83 2020-12-09T06:37:23Z- sync is 0.41, coherence is 2.00 2020-12-09T06:37:23Z- handleDvl() - RDI_Pathfinder msg: 1607495843.27 epoch sec; seqNo:631 2020-12-09T06:37:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.42 , 42.84 , 43.59 , 37.04 2020-12-09T06:37:23Z- handleDvl() - RDI_Pathfinder msg: velocities 1.11 , 0.14 , 0.14 2020-12-09T06:37:23Z- waiting for 1607495843.41, time is 1607495843.27 2020-12-09T06:37:23Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495843.29 epoch sec; seqNo:1148; 4061662.81 north; 594311.27 east 2020-12-09T06:37:23Z- waiting for 1607495843.41, time is 1607495843.27 2020-12-09T06:37:23Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:23Z- AHRS_M2 msg: 1607495843.63 epoch sec; seqNo:1112 2020-12-09T06:37:23Z- AHRS_M2 msg: 4.67 phi; 0.04 theta; -0.18 psi 2020-12-09T06:37:23Z- waiting for 1607495843.41, time is 1607495843.27 2020-12-09T06:37:23Z- sync is 0.36, coherence is 2.00 2020-12-09T06:37:23Z- handleDepth()-Depth_Keller msg: 50.52 epoch sec; seqNo:1607495843633; depth 0.00 2020-12-09T06:37:23Z- waiting for 1607495843.41, time is 1607495843.27 2020-12-09T06:37:23Z- sync is 0.36, coherence is 2.00 2020-12-09T06:37:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495843.65 epoch sec; seqNo:1149; 4061662.80 north; 594310.05 east 2020-12-09T06:37:23Z- waiting for 1607495843.41, time is 1607495843.27 2020-12-09T06:37:23Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:23Z- AHRS_M2 msg: 1607495844.03 epoch sec; seqNo:1113 2020-12-09T06:37:23Z- AHRS_M2 msg: 4.67 phi; 0.04 theta; -0.18 psi 2020-12-09T06:37:24Z- waiting for 1607495843.41, time is 1607495843.27 2020-12-09T06:37:24Z- sync is 0.76, coherence is 2.00 2020-12-09T06:37:24Z- handleDepth()-Depth_Keller msg: 50.57 epoch sec; seqNo:1607495844034; depth 0.00 2020-12-09T06:37:24Z- waiting for 1607495843.41, time is 1607495843.27 2020-12-09T06:37:24Z- sync is 0.76, coherence is 2.00 2020-12-09T06:37:24Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:24Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:24Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:24Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:37:24Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:37:24Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:37:24Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:37:24Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:37:24Z- handleDvl() - RDI_Pathfinder msg: 1607495844.04 epoch sec; seqNo:632 2020-12-09T06:37:24Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:37:24Z- handleDvl() - RDI_Pathfinder msg: velocities 1.11 , 0.14 , 0.14 2020-12-09T06:37:24Z- waiting for 1607495843.41, time is 1607495844.04 2020-12-09T06:37:24Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:24Z- LcmTrn::updateTrn() >>>> pose time 1607495844.03, meas time 1607495844.04 <<<< 2020-12-09T06:37:24Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495844.04, ping # 0. 2020-12-09T06:37:24Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495844.04 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:37:24Z- TerrainNav::motionUpdate() - currEstimate = (4061663, 594310.05, 50.57) 2020-12-09T06:37:24Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:37:24Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:37:24Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:37:24Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:37:24Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:37:24Z- TNavBF::mmse selected from filter -1 2020-12-09T06:37:24Z- variances([0], [2], and psi_berg) = 796.920950 833.096409 0.000000 2020-12-09T06:37:24Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:37:24Z- LcmTrn::cycle() - MLE : 4061634.30 594262.55 50.57 2020-12-09T06:37:24Z- LcmTrn::cycle() - MMSE : 4061662.80 594310.05 50.57 2020-12-09T06:37:24Z- LcmTrn::cycle() - COVAR: 796.92 833.10 46.54 0.00 2020-12-09T06:37:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495844.05 epoch sec; seqNo:1150; 4061662.80 north; 594310.05 east 2020-12-09T06:37:24Z- waiting for 1607495847.04, time is 1607495844.04 2020-12-09T06:37:24Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:24Z- AHRS_M2 msg: 1607495844.43 epoch sec; seqNo:1114 2020-12-09T06:37:24Z- AHRS_M2 msg: 4.67 phi; 0.04 theta; -0.19 psi 2020-12-09T06:37:24Z- waiting for 1607495847.04, time is 1607495844.04 2020-12-09T06:37:24Z- sync is 0.39, coherence is 2.00 2020-12-09T06:37:24Z- handleDepth()-Depth_Keller msg: 50.60 epoch sec; seqNo:1607495844439; depth 0.00 2020-12-09T06:37:24Z- waiting for 1607495847.04, time is 1607495844.04 2020-12-09T06:37:24Z- sync is 0.39, coherence is 2.00 2020-12-09T06:37:24Z- handleDvl() - RDI_Pathfinder msg: 1607495844.45 epoch sec; seqNo:633 2020-12-09T06:37:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.42 , 42.47 , 44.15 , 36.67 2020-12-09T06:37:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.11 , 0.18 2020-12-09T06:37:24Z- waiting for 1607495847.04, time is 1607495844.45 2020-12-09T06:37:24Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495844.48 epoch sec; seqNo:1151; 4061662.80 north; 594310.05 east 2020-12-09T06:37:24Z- waiting for 1607495847.04, time is 1607495844.45 2020-12-09T06:37:24Z- sync is 0.03, coherence is 2.00 2020-12-09T06:37:24Z- AHRS_M2 msg: 1607495844.84 epoch sec; seqNo:1115 2020-12-09T06:37:24Z- AHRS_M2 msg: 4.67 phi; 0.04 theta; -0.19 psi 2020-12-09T06:37:24Z- waiting for 1607495847.04, time is 1607495844.45 2020-12-09T06:37:24Z- sync is 0.39, coherence is 2.00 2020-12-09T06:37:24Z- handleDepth()-Depth_Keller msg: 50.64 epoch sec; seqNo:1607495844844; depth 0.00 2020-12-09T06:37:24Z- waiting for 1607495847.04, time is 1607495844.45 2020-12-09T06:37:24Z- sync is 0.39, coherence is 2.00 2020-12-09T06:37:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495844.86 epoch sec; seqNo:1152; 4061662.78 north; 594308.83 east 2020-12-09T06:37:24Z- waiting for 1607495847.04, time is 1607495844.45 2020-12-09T06:37:24Z- sync is 0.41, coherence is 2.00 2020-12-09T06:37:25Z- AHRS_M2 msg: 1607495845.25 epoch sec; seqNo:1116 2020-12-09T06:37:25Z- AHRS_M2 msg: 4.67 phi; 0.05 theta; -0.19 psi 2020-12-09T06:37:25Z- waiting for 1607495847.04, time is 1607495844.45 2020-12-09T06:37:25Z- sync is 0.80, coherence is 2.00 2020-12-09T06:37:25Z- handleDepth()-Depth_Keller msg: 50.68 epoch sec; seqNo:1607495845259; depth 0.00 2020-12-09T06:37:25Z- waiting for 1607495847.04, time is 1607495844.45 2020-12-09T06:37:25Z- sync is 0.80, coherence is 2.00 2020-12-09T06:37:25Z- handleDvl() - RDI_Pathfinder msg: 1607495845.27 epoch sec; seqNo:634 2020-12-09T06:37:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.42 , 42.84 , 44.34 , 36.86 2020-12-09T06:37:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , 0.07 , 0.19 2020-12-09T06:37:25Z- waiting for 1607495847.04, time is 1607495845.27 2020-12-09T06:37:25Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495845.29 epoch sec; seqNo:1153; 4061662.78 north; 594308.83 east 2020-12-09T06:37:25Z- waiting for 1607495847.04, time is 1607495845.27 2020-12-09T06:37:25Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:25Z- AHRS_M2 msg: 1607495845.65 epoch sec; seqNo:1117 2020-12-09T06:37:25Z- AHRS_M2 msg: 4.67 phi; 0.05 theta; -0.19 psi 2020-12-09T06:37:25Z- waiting for 1607495847.04, time is 1607495845.27 2020-12-09T06:37:25Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:25Z- handleDepth()-Depth_Keller msg: 50.72 epoch sec; seqNo:1607495845652; depth 0.00 2020-12-09T06:37:25Z- waiting for 1607495847.04, time is 1607495845.27 2020-12-09T06:37:25Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495845.68 epoch sec; seqNo:1154; 4061662.78 north; 594308.83 east 2020-12-09T06:37:25Z- waiting for 1607495847.04, time is 1607495845.27 2020-12-09T06:37:25Z- sync is 0.41, coherence is 2.00 2020-12-09T06:37:26Z- AHRS_M2 msg: 1607495846.05 epoch sec; seqNo:1118 2020-12-09T06:37:26Z- AHRS_M2 msg: 4.67 phi; 0.05 theta; -0.19 psi 2020-12-09T06:37:26Z- waiting for 1607495847.04, time is 1607495845.27 2020-12-09T06:37:26Z- sync is 0.78, coherence is 2.00 2020-12-09T06:37:26Z- handleDepth()-Depth_Keller msg: 50.75 epoch sec; seqNo:1607495846054; depth 0.00 2020-12-09T06:37:26Z- waiting for 1607495847.04, time is 1607495845.27 2020-12-09T06:37:26Z- sync is 0.78, coherence is 2.00 2020-12-09T06:37:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495846.06 epoch sec; seqNo:1155; 4061663.15 north; 594307.60 east 2020-12-09T06:37:26Z- waiting for 1607495847.04, time is 1607495845.27 2020-12-09T06:37:26Z- sync is 0.79, coherence is 2.00 2020-12-09T06:37:26Z- AHRS_M2 msg: 1607495846.45 epoch sec; seqNo:1119 2020-12-09T06:37:26Z- AHRS_M2 msg: 4.67 phi; 0.05 theta; -0.20 psi 2020-12-09T06:37:26Z- waiting for 1607495847.04, time is 1607495845.27 2020-12-09T06:37:26Z- sync is 1.18, coherence is 2.00 2020-12-09T06:37:26Z- handleDepth()-Depth_Keller msg: 50.78 epoch sec; seqNo:1607495846462; depth 0.00 2020-12-09T06:37:26Z- waiting for 1607495847.04, time is 1607495845.27 2020-12-09T06:37:26Z- sync is 1.18, coherence is 2.00 2020-12-09T06:37:26Z- handleDvl() - RDI_Pathfinder msg: 1607495846.47 epoch sec; seqNo:635 2020-12-09T06:37:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.60 , 43.03 , 44.71 , 37.42 2020-12-09T06:37:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , 0.03 , 0.17 2020-12-09T06:37:26Z- waiting for 1607495847.04, time is 1607495846.47 2020-12-09T06:37:26Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495846.48 epoch sec; seqNo:1156; 4061663.15 north; 594307.60 east 2020-12-09T06:37:26Z- waiting for 1607495847.04, time is 1607495846.47 2020-12-09T06:37:26Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:26Z- AHRS_M2 msg: 1607495846.86 epoch sec; seqNo:1120 2020-12-09T06:37:26Z- AHRS_M2 msg: 4.68 phi; 0.05 theta; -0.20 psi 2020-12-09T06:37:26Z- waiting for 1607495847.04, time is 1607495846.47 2020-12-09T06:37:26Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:26Z- handleDepth()-Depth_Keller msg: 50.81 epoch sec; seqNo:1607495846874; depth 0.00 2020-12-09T06:37:26Z- waiting for 1607495847.04, time is 1607495846.47 2020-12-09T06:37:26Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495846.88 epoch sec; seqNo:1157; 4061663.15 north; 594307.60 east 2020-12-09T06:37:26Z- waiting for 1607495847.04, time is 1607495846.47 2020-12-09T06:37:26Z- sync is 0.41, coherence is 2.00 2020-12-09T06:37:27Z- AHRS_M2 msg: 1607495847.26 epoch sec; seqNo:1121 2020-12-09T06:37:27Z- AHRS_M2 msg: 4.68 phi; 0.05 theta; -0.20 psi 2020-12-09T06:37:27Z- waiting for 1607495847.04, time is 1607495846.47 2020-12-09T06:37:27Z- sync is 0.79, coherence is 2.00 2020-12-09T06:37:27Z- handleDepth()-Depth_Keller msg: 50.80 epoch sec; seqNo:1607495847415; depth 0.00 2020-12-09T06:37:27Z- waiting for 1607495847.04, time is 1607495846.47 2020-12-09T06:37:27Z- sync is 0.79, coherence is 2.00 2020-12-09T06:37:27Z- handleDvl() - RDI_Pathfinder msg: 1607495847.43 epoch sec; seqNo:636 2020-12-09T06:37:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.79 , 44.15 , 45.27 , 37.79 2020-12-09T06:37:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.65 , -0.02 , 0.13 2020-12-09T06:37:27Z- waiting for 1607495847.04, time is 1607495847.43 2020-12-09T06:37:27Z- sync is 0.17, coherence is 2.00 2020-12-09T06:37:27Z- LcmTrn::updateTrn() >>>> pose time 1607495847.26, meas time 1607495847.43 <<<< 2020-12-09T06:37:27Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495847.43 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:37:27Z- TerrainNav::motionUpdate() - currEstimate = (4061663, 594307.60, 50.80) 2020-12-09T06:37:27Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:37:27Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:37:27Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:37:27Z- TNavBF::mmse selected from filter -1 2020-12-09T06:37:27Z- variances([0], [2], and psi_berg) = 796.755278 833.096076 0.000000 2020-12-09T06:37:27Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:37:27Z- LcmTrn::cycle() - MLE : 4061634.65 594260.10 50.80 2020-12-09T06:37:27Z- LcmTrn::cycle() - MMSE : 4061663.15 594307.60 50.80 2020-12-09T06:37:27Z- LcmTrn::cycle() - COVAR: 796.76 833.10 46.66 0.00 2020-12-09T06:37:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495847.45 epoch sec; seqNo:1158; 4061663.15 north; 594307.60 east 2020-12-09T06:37:27Z- waiting for 1607495850.43, time is 1607495847.43 2020-12-09T06:37:27Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:27Z- AHRS_M2 msg: 1607495847.66 epoch sec; seqNo:1122 2020-12-09T06:37:27Z- AHRS_M2 msg: 4.68 phi; 0.05 theta; -0.20 psi 2020-12-09T06:37:27Z- waiting for 1607495850.43, time is 1607495847.43 2020-12-09T06:37:27Z- sync is 0.24, coherence is 2.00 2020-12-09T06:37:27Z- handleDepth()-Depth_Keller msg: 50.83 epoch sec; seqNo:1607495847687; depth 0.00 2020-12-09T06:37:27Z- waiting for 1607495850.43, time is 1607495847.43 2020-12-09T06:37:27Z- sync is 0.24, coherence is 2.00 2020-12-09T06:37:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495847.72 epoch sec; seqNo:1159; 4061663.13 north; 594306.38 east 2020-12-09T06:37:27Z- waiting for 1607495850.43, time is 1607495847.43 2020-12-09T06:37:27Z- sync is 0.29, coherence is 2.00 2020-12-09T06:37:28Z- handleDepth()-Depth_Keller msg: 50.82 epoch sec; seqNo:1607495848114; depth 0.00 2020-12-09T06:37:28Z- waiting for 1607495850.43, time is 1607495847.43 2020-12-09T06:37:28Z- sync is 0.29, coherence is 2.00 2020-12-09T06:37:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495848.12 epoch sec; seqNo:1160; 4061663.13 north; 594306.38 east 2020-12-09T06:37:28Z- waiting for 1607495850.43, time is 1607495847.43 2020-12-09T06:37:28Z- sync is 0.70, coherence is 2.00 2020-12-09T06:37:28Z- AHRS_M2 msg: 1607495848.47 epoch sec; seqNo:1123 2020-12-09T06:37:28Z- AHRS_M2 msg: 4.69 phi; 0.05 theta; -0.21 psi 2020-12-09T06:37:28Z- waiting for 1607495850.43, time is 1607495847.43 2020-12-09T06:37:28Z- sync is 1.05, coherence is 2.00 2020-12-09T06:37:28Z- handleDepth()-Depth_Keller msg: 50.81 epoch sec; seqNo:1607495848514; depth 0.00 2020-12-09T06:37:28Z- waiting for 1607495850.43, time is 1607495847.43 2020-12-09T06:37:28Z- sync is 1.05, coherence is 2.00 2020-12-09T06:37:28Z- handleDvl() - RDI_Pathfinder msg: 1607495848.54 epoch sec; seqNo:637 2020-12-09T06:37:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.79 , 44.15 , 45.46 , 38.17 2020-12-09T06:37:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.60 , -0.06 , 0.06 2020-12-09T06:37:28Z- waiting for 1607495850.43, time is 1607495848.54 2020-12-09T06:37:28Z- sync is 0.07, coherence is 2.00 2020-12-09T06:37:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495848.55 epoch sec; seqNo:1161; 4061663.13 north; 594306.38 east 2020-12-09T06:37:28Z- waiting for 1607495850.43, time is 1607495848.54 2020-12-09T06:37:28Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:28Z- AHRS_M2 msg: 1607495848.88 epoch sec; seqNo:1124 2020-12-09T06:37:28Z- AHRS_M2 msg: 4.69 phi; 0.05 theta; -0.21 psi 2020-12-09T06:37:28Z- waiting for 1607495850.43, time is 1607495848.54 2020-12-09T06:37:28Z- sync is 0.34, coherence is 2.00 2020-12-09T06:37:28Z- handleDepth()-Depth_Keller msg: 50.79 epoch sec; seqNo:1607495848882; depth 0.00 2020-12-09T06:37:28Z- waiting for 1607495850.43, time is 1607495848.54 2020-12-09T06:37:28Z- sync is 0.34, coherence is 2.00 2020-12-09T06:37:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495848.90 epoch sec; seqNo:1162; 4061662.76 north; 594306.38 east 2020-12-09T06:37:28Z- waiting for 1607495850.43, time is 1607495848.54 2020-12-09T06:37:28Z- sync is 0.36, coherence is 2.00 2020-12-09T06:37:29Z- AHRS_M2 msg: 1607495849.28 epoch sec; seqNo:1125 2020-12-09T06:37:29Z- AHRS_M2 msg: 4.70 phi; 0.05 theta; -0.22 psi 2020-12-09T06:37:29Z- waiting for 1607495850.43, time is 1607495848.54 2020-12-09T06:37:29Z- sync is 0.74, coherence is 2.00 2020-12-09T06:37:29Z- handleDepth()-Depth_Keller msg: 50.78 epoch sec; seqNo:1607495849290; depth 0.00 2020-12-09T06:37:29Z- waiting for 1607495850.43, time is 1607495848.54 2020-12-09T06:37:29Z- sync is 0.74, coherence is 2.00 2020-12-09T06:37:29Z- handleDvl() - RDI_Pathfinder msg: 1607495849.32 epoch sec; seqNo:638 2020-12-09T06:37:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.60 , 44.71 , 45.46 , 38.35 2020-12-09T06:37:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.60 , -0.10 , -0.02 2020-12-09T06:37:29Z- waiting for 1607495850.43, time is 1607495849.32 2020-12-09T06:37:29Z- sync is 0.03, coherence is 2.00 2020-12-09T06:37:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495849.33 epoch sec; seqNo:1163; 4061662.76 north; 594306.38 east 2020-12-09T06:37:29Z- waiting for 1607495850.43, time is 1607495849.32 2020-12-09T06:37:29Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:29Z- handleDepth()-Depth_Keller msg: 50.74 epoch sec; seqNo:1607495849706; depth 0.00 2020-12-09T06:37:29Z- waiting for 1607495850.43, time is 1607495849.32 2020-12-09T06:37:29Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:29Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:29Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:29Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:29Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:37:29Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:37:29Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:37:29Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:37:29Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:37:29Z- handleDvl() - RDI_Pathfinder msg: 1607495849.71 epoch sec; seqNo:639 2020-12-09T06:37:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:37:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.60 , -0.10 , -0.02 2020-12-09T06:37:29Z- waiting for 1607495850.43, time is 1607495849.71 2020-12-09T06:37:29Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495849.74 epoch sec; seqNo:1164; 4061662.74 north; 594305.16 east 2020-12-09T06:37:29Z- waiting for 1607495850.43, time is 1607495849.71 2020-12-09T06:37:29Z- sync is 0.03, coherence is 2.00 2020-12-09T06:37:30Z- AHRS_M2 msg: 1607495850.09 epoch sec; seqNo:1126 2020-12-09T06:37:30Z- AHRS_M2 msg: 4.70 phi; 0.05 theta; -0.22 psi 2020-12-09T06:37:30Z- waiting for 1607495850.43, time is 1607495849.71 2020-12-09T06:37:30Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:30Z- handleDepth()-Depth_Keller msg: 50.70 epoch sec; seqNo:1607495850098; depth 0.00 2020-12-09T06:37:30Z- waiting for 1607495850.43, time is 1607495849.71 2020-12-09T06:37:30Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495850.11 epoch sec; seqNo:1165; 4061662.74 north; 594305.16 east 2020-12-09T06:37:30Z- waiting for 1607495850.43, time is 1607495849.71 2020-12-09T06:37:30Z- sync is 0.40, coherence is 2.00 2020-12-09T06:37:30Z- AHRS_M2 msg: 1607495850.49 epoch sec; seqNo:1127 2020-12-09T06:37:30Z- AHRS_M2 msg: 4.71 phi; 0.05 theta; -0.22 psi 2020-12-09T06:37:30Z- waiting for 1607495850.43, time is 1607495849.71 2020-12-09T06:37:30Z- sync is 0.78, coherence is 2.00 2020-12-09T06:37:30Z- handleDepth()-Depth_Keller msg: 50.66 epoch sec; seqNo:1607495850498; depth 0.00 2020-12-09T06:37:30Z- waiting for 1607495850.43, time is 1607495849.71 2020-12-09T06:37:30Z- sync is 0.78, coherence is 2.00 2020-12-09T06:37:30Z- handleDvl() - RDI_Pathfinder msg: 1607495850.52 epoch sec; seqNo:640 2020-12-09T06:37:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.60 , 44.90 , 45.27 , 38.54 2020-12-09T06:37:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.65 , -0.12 , -0.11 2020-12-09T06:37:30Z- waiting for 1607495850.43, time is 1607495850.52 2020-12-09T06:37:30Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:30Z- LcmTrn::updateTrn() >>>> pose time 1607495850.49, meas time 1607495850.52 <<<< 2020-12-09T06:37:30Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495850.52 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:37:30Z- TerrainNav::motionUpdate() - currEstimate = (4061663, 594305.16, 50.66) 2020-12-09T06:37:30Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:37:30Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:37:30Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:37:30Z- TNavBF::mmse selected from filter -1 2020-12-09T06:37:30Z- variances([0], [2], and psi_berg) = 796.590190 833.095745 0.000000 2020-12-09T06:37:30Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:37:30Z- LcmTrn::cycle() - MLE : 4061635.24 594255.66 50.66 2020-12-09T06:37:30Z- LcmTrn::cycle() - MMSE : 4061662.74 594305.16 50.66 2020-12-09T06:37:30Z- LcmTrn::cycle() - COVAR: 796.59 833.10 46.79 0.00 2020-12-09T06:37:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495850.53 epoch sec; seqNo:1166; 4061662.74 north; 594305.16 east 2020-12-09T06:37:30Z- waiting for 1607495853.52, time is 1607495850.52 2020-12-09T06:37:30Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:30Z- AHRS_M2 msg: 1607495850.90 epoch sec; seqNo:1128 2020-12-09T06:37:30Z- AHRS_M2 msg: 4.71 phi; 0.05 theta; -0.22 psi 2020-12-09T06:37:30Z- waiting for 1607495853.52, time is 1607495850.52 2020-12-09T06:37:30Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:30Z- handleDepth()-Depth_Keller msg: 50.60 epoch sec; seqNo:1607495850902; depth 0.00 2020-12-09T06:37:30Z- waiting for 1607495853.52, time is 1607495850.52 2020-12-09T06:37:30Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:30Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:30Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:30Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:30Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:37:30Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:37:30Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:37:30Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:37:30Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:37:30Z- handleDvl() - RDI_Pathfinder msg: 1607495850.90 epoch sec; seqNo:641 2020-12-09T06:37:30Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:37:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.65 , -0.12 , -0.11 2020-12-09T06:37:30Z- waiting for 1607495853.52, time is 1607495850.90 2020-12-09T06:37:30Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495850.92 epoch sec; seqNo:1167; 4061662.74 north; 594305.16 east 2020-12-09T06:37:30Z- waiting for 1607495853.52, time is 1607495850.90 2020-12-09T06:37:30Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:31Z- AHRS_M2 msg: 1607495851.31 epoch sec; seqNo:1129 2020-12-09T06:37:31Z- AHRS_M2 msg: 4.71 phi; 0.05 theta; -0.23 psi 2020-12-09T06:37:31Z- waiting for 1607495853.52, time is 1607495850.90 2020-12-09T06:37:31Z- sync is 0.40, coherence is 2.00 2020-12-09T06:37:31Z- handleDepth()-Depth_Keller msg: 50.57 epoch sec; seqNo:1607495851312; depth 0.00 2020-12-09T06:37:31Z- waiting for 1607495853.52, time is 1607495850.90 2020-12-09T06:37:31Z- sync is 0.40, coherence is 2.00 2020-12-09T06:37:31Z- handleDvl() - RDI_Pathfinder msg: 1607495851.33 epoch sec; seqNo:642 2020-12-09T06:37:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.42 , 45.09 , 44.90 , 38.54 2020-12-09T06:37:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.11 , -0.17 2020-12-09T06:37:31Z- waiting for 1607495853.52, time is 1607495851.33 2020-12-09T06:37:31Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495851.36 epoch sec; seqNo:1168; 4061662.74 north; 594305.16 east 2020-12-09T06:37:31Z- waiting for 1607495853.52, time is 1607495851.33 2020-12-09T06:37:31Z- sync is 0.04, coherence is 2.00 2020-12-09T06:37:31Z- AHRS_M2 msg: 1607495851.71 epoch sec; seqNo:1130 2020-12-09T06:37:31Z- AHRS_M2 msg: 4.72 phi; 0.05 theta; -0.23 psi 2020-12-09T06:37:31Z- waiting for 1607495853.52, time is 1607495851.33 2020-12-09T06:37:31Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:31Z- handleDepth()-Depth_Keller msg: 50.50 epoch sec; seqNo:1607495851715; depth 0.00 2020-12-09T06:37:31Z- waiting for 1607495853.52, time is 1607495851.33 2020-12-09T06:37:31Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495851.73 epoch sec; seqNo:1169; 4061662.73 north; 594303.94 east 2020-12-09T06:37:31Z- waiting for 1607495853.52, time is 1607495851.33 2020-12-09T06:37:31Z- sync is 0.40, coherence is 2.00 2020-12-09T06:37:32Z- AHRS_M2 msg: 1607495852.11 epoch sec; seqNo:1131 2020-12-09T06:37:32Z- AHRS_M2 msg: 4.72 phi; 0.06 theta; -0.23 psi 2020-12-09T06:37:32Z- waiting for 1607495853.52, time is 1607495851.33 2020-12-09T06:37:32Z- sync is 0.78, coherence is 2.00 2020-12-09T06:37:32Z- handleDepth()-Depth_Keller msg: 50.45 epoch sec; seqNo:1607495852115; depth 0.00 2020-12-09T06:37:32Z- waiting for 1607495853.52, time is 1607495851.33 2020-12-09T06:37:32Z- sync is 0.78, coherence is 2.00 2020-12-09T06:37:32Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:32Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:32Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:32Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:37:32Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:37:32Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:37:32Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:37:32Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:37:32Z- handleDvl() - RDI_Pathfinder msg: 1607495852.13 epoch sec; seqNo:643 2020-12-09T06:37:32Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:37:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.11 , -0.17 2020-12-09T06:37:32Z- waiting for 1607495853.52, time is 1607495852.13 2020-12-09T06:37:32Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495852.14 epoch sec; seqNo:1170; 4061662.35 north; 594303.95 east 2020-12-09T06:37:32Z- waiting for 1607495853.52, time is 1607495852.13 2020-12-09T06:37:32Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:32Z- AHRS_M2 msg: 1607495852.52 epoch sec; seqNo:1132 2020-12-09T06:37:32Z- AHRS_M2 msg: 4.72 phi; 0.06 theta; -0.23 psi 2020-12-09T06:37:32Z- waiting for 1607495853.52, time is 1607495852.13 2020-12-09T06:37:32Z- sync is 0.39, coherence is 2.00 2020-12-09T06:37:32Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1607495852524; depth 0.00 2020-12-09T06:37:32Z- waiting for 1607495853.52, time is 1607495852.13 2020-12-09T06:37:32Z- sync is 0.39, coherence is 2.00 2020-12-09T06:37:32Z- handleDvl() - RDI_Pathfinder msg: 1607495852.54 epoch sec; seqNo:644 2020-12-09T06:37:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.04 , 45.09 , 44.71 , 38.35 2020-12-09T06:37:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.08 , -0.20 2020-12-09T06:37:32Z- waiting for 1607495853.52, time is 1607495852.54 2020-12-09T06:37:32Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495852.57 epoch sec; seqNo:1171; 4061662.35 north; 594303.95 east 2020-12-09T06:37:32Z- waiting for 1607495853.52, time is 1607495852.54 2020-12-09T06:37:32Z- sync is 0.03, coherence is 2.00 2020-12-09T06:37:32Z- AHRS_M2 msg: 1607495852.92 epoch sec; seqNo:1133 2020-12-09T06:37:32Z- AHRS_M2 msg: 4.72 phi; 0.06 theta; -0.23 psi 2020-12-09T06:37:32Z- waiting for 1607495853.52, time is 1607495852.54 2020-12-09T06:37:32Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:32Z- handleDepth()-Depth_Keller msg: 50.32 epoch sec; seqNo:1607495852927; depth 0.00 2020-12-09T06:37:32Z- waiting for 1607495853.52, time is 1607495852.54 2020-12-09T06:37:32Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495852.94 epoch sec; seqNo:1172; 4061662.35 north; 594303.95 east 2020-12-09T06:37:32Z- waiting for 1607495853.52, time is 1607495852.54 2020-12-09T06:37:32Z- sync is 0.40, coherence is 2.00 2020-12-09T06:37:33Z- AHRS_M2 msg: 1607495853.32 epoch sec; seqNo:1134 2020-12-09T06:37:33Z- AHRS_M2 msg: 4.72 phi; 0.06 theta; -0.22 psi 2020-12-09T06:37:33Z- waiting for 1607495853.52, time is 1607495852.54 2020-12-09T06:37:33Z- sync is 0.78, coherence is 2.00 2020-12-09T06:37:33Z- handleDepth()-Depth_Keller msg: 50.27 epoch sec; seqNo:1607495853330; depth 0.00 2020-12-09T06:37:33Z- waiting for 1607495853.52, time is 1607495852.54 2020-12-09T06:37:33Z- sync is 0.78, coherence is 2.00 2020-12-09T06:37:33Z- handleDvl() - RDI_Pathfinder msg: 1607495853.34 epoch sec; seqNo:645 2020-12-09T06:37:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.04 , 44.34 , 44.90 , 38.17 2020-12-09T06:37:33Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.03 , -0.20 2020-12-09T06:37:33Z- waiting for 1607495853.52, time is 1607495853.34 2020-12-09T06:37:33Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495853.36 epoch sec; seqNo:1173; 4061662.34 north; 594302.73 east 2020-12-09T06:37:33Z- waiting for 1607495853.52, time is 1607495853.34 2020-12-09T06:37:33Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:33Z- AHRS_M2 msg: 1607495853.73 epoch sec; seqNo:1135 2020-12-09T06:37:33Z- AHRS_M2 msg: 4.71 phi; 0.06 theta; -0.22 psi 2020-12-09T06:37:33Z- waiting for 1607495853.52, time is 1607495853.34 2020-12-09T06:37:33Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:33Z- handleDepth()-Depth_Keller msg: 50.21 epoch sec; seqNo:1607495853734; depth 0.00 2020-12-09T06:37:33Z- waiting for 1607495853.52, time is 1607495853.34 2020-12-09T06:37:33Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495853.76 epoch sec; seqNo:1174; 4061662.34 north; 594302.73 east 2020-12-09T06:37:33Z- waiting for 1607495853.52, time is 1607495853.34 2020-12-09T06:37:33Z- sync is 0.41, coherence is 2.00 2020-12-09T06:37:34Z- AHRS_M2 msg: 1607495854.13 epoch sec; seqNo:1136 2020-12-09T06:37:34Z- AHRS_M2 msg: 4.71 phi; 0.06 theta; -0.22 psi 2020-12-09T06:37:34Z- waiting for 1607495853.52, time is 1607495853.34 2020-12-09T06:37:34Z- sync is 0.79, coherence is 2.00 2020-12-09T06:37:34Z- handleDepth()-Depth_Keller msg: 50.15 epoch sec; seqNo:1607495854134; depth 0.00 2020-12-09T06:37:34Z- waiting for 1607495853.52, time is 1607495853.34 2020-12-09T06:37:34Z- sync is 0.79, coherence is 2.00 2020-12-09T06:37:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495854.14 epoch sec; seqNo:1175; 4061662.34 north; 594302.73 east 2020-12-09T06:37:34Z- waiting for 1607495853.52, time is 1607495853.34 2020-12-09T06:37:34Z- sync is 0.80, coherence is 2.00 2020-12-09T06:37:34Z- AHRS_M2 msg: 1607495854.54 epoch sec; seqNo:1137 2020-12-09T06:37:34Z- AHRS_M2 msg: 4.71 phi; 0.06 theta; -0.22 psi 2020-12-09T06:37:34Z- waiting for 1607495853.52, time is 1607495853.34 2020-12-09T06:37:34Z- sync is 1.19, coherence is 2.00 2020-12-09T06:37:34Z- handleDepth()-Depth_Keller msg: 50.10 epoch sec; seqNo:1607495854545; depth 0.00 2020-12-09T06:37:34Z- waiting for 1607495853.52, time is 1607495853.34 2020-12-09T06:37:34Z- sync is 1.19, coherence is 2.00 2020-12-09T06:37:34Z- handleDvl() - RDI_Pathfinder msg: 1607495854.56 epoch sec; seqNo:646 2020-12-09T06:37:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.42 , 43.97 , 44.53 , 38.54 2020-12-09T06:37:34Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , 0.02 , -0.15 2020-12-09T06:37:34Z- waiting for 1607495853.52, time is 1607495854.56 2020-12-09T06:37:34Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:34Z- LcmTrn::updateTrn() >>>> pose time 1607495854.54, meas time 1607495854.56 <<<< 2020-12-09T06:37:34Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495854.56 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:37:34Z- TerrainNav::motionUpdate() - currEstimate = (4061662, 594302.73, 50.10) 2020-12-09T06:37:34Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:37:34Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:37:34Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:37:34Z- TNavBF::mmse selected from filter -1 2020-12-09T06:37:34Z- variances([0], [2], and psi_berg) = 796.425683 833.095416 0.000000 2020-12-09T06:37:34Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:37:34Z- LcmTrn::cycle() - MLE : 4061634.84 594253.23 50.10 2020-12-09T06:37:34Z- LcmTrn::cycle() - MMSE : 4061662.34 594302.73 50.10 2020-12-09T06:37:34Z- LcmTrn::cycle() - COVAR: 796.43 833.10 46.92 0.00 2020-12-09T06:37:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495854.57 epoch sec; seqNo:1176; 4061662.32 north; 594301.51 east 2020-12-09T06:37:34Z- waiting for 1607495857.56, time is 1607495854.56 2020-12-09T06:37:34Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:34Z- AHRS_M2 msg: 1607495854.94 epoch sec; seqNo:1138 2020-12-09T06:37:34Z- AHRS_M2 msg: 4.70 phi; 0.06 theta; -0.21 psi 2020-12-09T06:37:34Z- waiting for 1607495857.56, time is 1607495854.56 2020-12-09T06:37:34Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:34Z- handleDepth()-Depth_Keller msg: 50.05 epoch sec; seqNo:1607495854942; depth 0.00 2020-12-09T06:37:34Z- waiting for 1607495857.56, time is 1607495854.56 2020-12-09T06:37:34Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495854.96 epoch sec; seqNo:1177; 4061662.32 north; 594301.51 east 2020-12-09T06:37:34Z- waiting for 1607495857.56, time is 1607495854.56 2020-12-09T06:37:34Z- sync is 0.40, coherence is 2.00 2020-12-09T06:37:35Z- AHRS_M2 msg: 1607495855.34 epoch sec; seqNo:1139 2020-12-09T06:37:35Z- AHRS_M2 msg: 4.70 phi; 0.06 theta; -0.21 psi 2020-12-09T06:37:35Z- waiting for 1607495857.56, time is 1607495854.56 2020-12-09T06:37:35Z- sync is 0.78, coherence is 2.00 2020-12-09T06:37:35Z- handleDepth()-Depth_Keller msg: 50.02 epoch sec; seqNo:1607495855346; depth 0.00 2020-12-09T06:37:35Z- waiting for 1607495857.56, time is 1607495854.56 2020-12-09T06:37:35Z- sync is 0.78, coherence is 2.00 2020-12-09T06:37:35Z- handleDvl() - RDI_Pathfinder msg: 1607495855.36 epoch sec; seqNo:647 2020-12-09T06:37:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.42 , 44.71 , 44.34 , 37.98 2020-12-09T06:37:35Z- handleDvl() - RDI_Pathfinder msg: velocities 1.14 , 0.08 , -0.09 2020-12-09T06:37:35Z- waiting for 1607495857.56, time is 1607495855.36 2020-12-09T06:37:35Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495855.40 epoch sec; seqNo:1178; 4061662.31 north; 594300.29 east 2020-12-09T06:37:35Z- waiting for 1607495857.56, time is 1607495855.36 2020-12-09T06:37:35Z- sync is 0.04, coherence is 2.00 2020-12-09T06:37:35Z- AHRS_M2 msg: 1607495855.74 epoch sec; seqNo:1140 2020-12-09T06:37:35Z- AHRS_M2 msg: 4.70 phi; 0.06 theta; -0.21 psi 2020-12-09T06:37:35Z- waiting for 1607495857.56, time is 1607495855.36 2020-12-09T06:37:35Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:35Z- handleDepth()-Depth_Keller msg: 50.00 epoch sec; seqNo:1607495855749; depth 0.00 2020-12-09T06:37:35Z- waiting for 1607495857.56, time is 1607495855.36 2020-12-09T06:37:35Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:35Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:35Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:37:35Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:37:35Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:37:35Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:37:35Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:37:35Z- handleDvl() - RDI_Pathfinder msg: 1607495855.75 epoch sec; seqNo:648 2020-12-09T06:37:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:37:35Z- handleDvl() - RDI_Pathfinder msg: velocities 1.14 , 0.08 , -0.09 2020-12-09T06:37:35Z- waiting for 1607495857.56, time is 1607495855.75 2020-12-09T06:37:35Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495855.76 epoch sec; seqNo:1179; 4061662.31 north; 594300.29 east 2020-12-09T06:37:35Z- waiting for 1607495857.56, time is 1607495855.75 2020-12-09T06:37:35Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:36Z- AHRS_M2 msg: 1607495856.15 epoch sec; seqNo:1141 2020-12-09T06:37:36Z- AHRS_M2 msg: 4.69 phi; 0.05 theta; -0.21 psi 2020-12-09T06:37:36Z- waiting for 1607495857.56, time is 1607495855.75 2020-12-09T06:37:36Z- sync is 0.40, coherence is 2.00 2020-12-09T06:37:36Z- handleDepth()-Depth_Keller msg: 49.96 epoch sec; seqNo:1607495856157; depth 0.00 2020-12-09T06:37:36Z- waiting for 1607495857.56, time is 1607495855.75 2020-12-09T06:37:36Z- sync is 0.40, coherence is 2.00 2020-12-09T06:37:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495856.17 epoch sec; seqNo:1180; 4061662.31 north; 594300.29 east 2020-12-09T06:37:36Z- waiting for 1607495857.56, time is 1607495855.75 2020-12-09T06:37:36Z- sync is 0.41, coherence is 2.00 2020-12-09T06:37:36Z- AHRS_M2 msg: 1607495856.56 epoch sec; seqNo:1142 2020-12-09T06:37:36Z- AHRS_M2 msg: 4.69 phi; 0.05 theta; -0.21 psi 2020-12-09T06:37:36Z- waiting for 1607495857.56, time is 1607495855.75 2020-12-09T06:37:36Z- sync is 0.81, coherence is 2.00 2020-12-09T06:37:36Z- handleDepth()-Depth_Keller msg: 49.93 epoch sec; seqNo:1607495856566; depth 0.00 2020-12-09T06:37:36Z- waiting for 1607495857.56, time is 1607495855.75 2020-12-09T06:37:36Z- sync is 0.81, coherence is 2.00 2020-12-09T06:37:36Z- handleDvl() - RDI_Pathfinder msg: 1607495856.59 epoch sec; seqNo:649 2020-12-09T06:37:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.98 , 45.09 , 44.53 , 38.17 2020-12-09T06:37:36Z- handleDvl() - RDI_Pathfinder msg: velocities 1.14 , 0.13 , -0.03 2020-12-09T06:37:36Z- waiting for 1607495857.56, time is 1607495856.59 2020-12-09T06:37:36Z- sync is 0.03, coherence is 2.00 2020-12-09T06:37:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495856.60 epoch sec; seqNo:1181; 4061662.30 north; 594299.07 east 2020-12-09T06:37:36Z- waiting for 1607495857.56, time is 1607495856.59 2020-12-09T06:37:36Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:36Z- AHRS_M2 msg: 1607495856.96 epoch sec; seqNo:1143 2020-12-09T06:37:36Z- AHRS_M2 msg: 4.68 phi; 0.05 theta; -0.21 psi 2020-12-09T06:37:36Z- waiting for 1607495857.56, time is 1607495856.59 2020-12-09T06:37:36Z- sync is 0.37, coherence is 2.00 2020-12-09T06:37:36Z- handleDepth()-Depth_Keller msg: 49.93 epoch sec; seqNo:1607495856962; depth 0.00 2020-12-09T06:37:36Z- waiting for 1607495857.56, time is 1607495856.59 2020-12-09T06:37:36Z- sync is 0.37, coherence is 2.00 2020-12-09T06:37:36Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:36Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:36Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:36Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:37:36Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:37:36Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:37:36Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:37:36Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:37:36Z- handleDvl() - RDI_Pathfinder msg: 1607495856.96 epoch sec; seqNo:650 2020-12-09T06:37:36Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:37:36Z- handleDvl() - RDI_Pathfinder msg: velocities 1.14 , 0.13 , -0.03 2020-12-09T06:37:36Z- waiting for 1607495857.56, time is 1607495856.96 2020-12-09T06:37:36Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495856.98 epoch sec; seqNo:1182; 4061662.30 north; 594299.07 east 2020-12-09T06:37:36Z- waiting for 1607495857.56, time is 1607495856.96 2020-12-09T06:37:36Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:37Z- AHRS_M2 msg: 1607495857.36 epoch sec; seqNo:1144 2020-12-09T06:37:37Z- AHRS_M2 msg: 4.68 phi; 0.05 theta; -0.21 psi 2020-12-09T06:37:37Z- waiting for 1607495857.56, time is 1607495856.96 2020-12-09T06:37:37Z- sync is 0.40, coherence is 2.00 2020-12-09T06:37:37Z- handleDepth()-Depth_Keller msg: 49.93 epoch sec; seqNo:1607495857368; depth 0.00 2020-12-09T06:37:37Z- waiting for 1607495857.56, time is 1607495856.96 2020-12-09T06:37:37Z- sync is 0.40, coherence is 2.00 2020-12-09T06:37:37Z- handleDvl() - RDI_Pathfinder msg: 1607495857.38 epoch sec; seqNo:651 2020-12-09T06:37:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.98 , 45.46 , 45.09 , 38.54 2020-12-09T06:37:37Z- handleDvl() - RDI_Pathfinder msg: velocities 1.11 , 0.14 , 0.02 2020-12-09T06:37:37Z- waiting for 1607495857.56, time is 1607495857.38 2020-12-09T06:37:37Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495857.39 epoch sec; seqNo:1183; 4061662.30 north; 594299.07 east 2020-12-09T06:37:37Z- waiting for 1607495857.56, time is 1607495857.38 2020-12-09T06:37:37Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:37Z- AHRS_M2 msg: 1607495857.79 epoch sec; seqNo:1145 2020-12-09T06:37:37Z- AHRS_M2 msg: 4.68 phi; 0.04 theta; -0.22 psi 2020-12-09T06:37:37Z- waiting for 1607495857.56, time is 1607495857.38 2020-12-09T06:37:37Z- sync is 0.41, coherence is 2.00 2020-12-09T06:37:37Z- handleDepth()-Depth_Keller msg: 49.91 epoch sec; seqNo:1607495857799; depth 0.00 2020-12-09T06:37:37Z- waiting for 1607495857.56, time is 1607495857.38 2020-12-09T06:37:37Z- sync is 0.41, coherence is 2.00 2020-12-09T06:37:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495857.82 epoch sec; seqNo:1184; 4061662.28 north; 594297.85 east 2020-12-09T06:37:37Z- waiting for 1607495857.56, time is 1607495857.38 2020-12-09T06:37:37Z- sync is 0.43, coherence is 2.00 2020-12-09T06:37:38Z- AHRS_M2 msg: 1607495858.17 epoch sec; seqNo:1146 2020-12-09T06:37:38Z- AHRS_M2 msg: 4.67 phi; 0.04 theta; -0.22 psi 2020-12-09T06:37:38Z- waiting for 1607495857.56, time is 1607495857.38 2020-12-09T06:37:38Z- sync is 0.79, coherence is 2.00 2020-12-09T06:37:38Z- handleDepth()-Depth_Keller msg: 49.93 epoch sec; seqNo:1607495858182; depth 0.00 2020-12-09T06:37:38Z- waiting for 1607495857.56, time is 1607495857.38 2020-12-09T06:37:38Z- sync is 0.79, coherence is 2.00 2020-12-09T06:37:38Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:38Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:38Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:38Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:37:38Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:37:38Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:37:38Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:37:38Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:37:38Z- handleDvl() - RDI_Pathfinder msg: 1607495858.18 epoch sec; seqNo:652 2020-12-09T06:37:38Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:37:38Z- handleDvl() - RDI_Pathfinder msg: velocities 1.11 , 0.14 , 0.02 2020-12-09T06:37:38Z- waiting for 1607495857.56, time is 1607495858.18 2020-12-09T06:37:38Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:38Z- LcmTrn::updateTrn() >>>> pose time 1607495858.17, meas time 1607495858.18 <<<< 2020-12-09T06:37:38Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495858.18, ping # 0. 2020-12-09T06:37:38Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495858.18 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:37:38Z- TerrainNav::motionUpdate() - currEstimate = (4061662, 594297.85, 49.93) 2020-12-09T06:37:38Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:37:38Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:37:38Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:37:38Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:37:38Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:37:38Z- TNavBF::mmse selected from filter -1 2020-12-09T06:37:38Z- variances([0], [2], and psi_berg) = 796.195211 833.094958 0.000000 2020-12-09T06:37:38Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:37:38Z- LcmTrn::cycle() - MLE : 4061634.78 594248.35 49.93 2020-12-09T06:37:38Z- LcmTrn::cycle() - MMSE : 4061662.28 594297.85 49.93 2020-12-09T06:37:38Z- LcmTrn::cycle() - COVAR: 796.20 833.09 47.17 0.00 2020-12-09T06:37:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495858.26 epoch sec; seqNo:1185; 4061662.28 north; 594297.85 east 2020-12-09T06:37:38Z- waiting for 1607495861.18, time is 1607495858.18 2020-12-09T06:37:38Z- sync is 0.07, coherence is 2.00 2020-12-09T06:37:38Z- AHRS_M2 msg: 1607495858.57 epoch sec; seqNo:1147 2020-12-09T06:37:38Z- AHRS_M2 msg: 4.67 phi; 0.04 theta; -0.22 psi 2020-12-09T06:37:38Z- waiting for 1607495861.18, time is 1607495858.18 2020-12-09T06:37:38Z- sync is 0.39, coherence is 2.00 2020-12-09T06:37:38Z- handleDepth()-Depth_Keller msg: 49.94 epoch sec; seqNo:1607495858578; depth 0.00 2020-12-09T06:37:38Z- waiting for 1607495861.18, time is 1607495858.18 2020-12-09T06:37:38Z- sync is 0.39, coherence is 2.00 2020-12-09T06:37:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495858.59 epoch sec; seqNo:1186; 4061662.66 north; 594297.84 east 2020-12-09T06:37:38Z- waiting for 1607495861.18, time is 1607495858.18 2020-12-09T06:37:38Z- sync is 0.41, coherence is 2.00 2020-12-09T06:37:38Z- AHRS_M2 msg: 1607495858.98 epoch sec; seqNo:1148 2020-12-09T06:37:38Z- AHRS_M2 msg: 4.67 phi; 0.04 theta; -0.22 psi 2020-12-09T06:37:38Z- waiting for 1607495861.18, time is 1607495858.18 2020-12-09T06:37:38Z- sync is 0.80, coherence is 2.00 2020-12-09T06:37:38Z- handleDepth()-Depth_Keller msg: 49.95 epoch sec; seqNo:1607495858984; depth 0.00 2020-12-09T06:37:38Z- waiting for 1607495861.18, time is 1607495858.18 2020-12-09T06:37:38Z- sync is 0.80, coherence is 2.00 2020-12-09T06:37:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495858.99 epoch sec; seqNo:1187; 4061662.65 north; 594296.62 east 2020-12-09T06:37:38Z- waiting for 1607495861.18, time is 1607495858.18 2020-12-09T06:37:38Z- sync is 0.81, coherence is 2.00 2020-12-09T06:37:39Z- AHRS_M2 msg: 1607495859.38 epoch sec; seqNo:1149 2020-12-09T06:37:39Z- AHRS_M2 msg: 4.67 phi; 0.04 theta; -0.22 psi 2020-12-09T06:37:39Z- waiting for 1607495861.18, time is 1607495858.18 2020-12-09T06:37:39Z- sync is 1.20, coherence is 2.00 2020-12-09T06:37:39Z- handleDepth()-Depth_Keller msg: 49.99 epoch sec; seqNo:1607495859394; depth 0.00 2020-12-09T06:37:39Z- waiting for 1607495861.18, time is 1607495858.18 2020-12-09T06:37:39Z- sync is 1.20, coherence is 2.00 2020-12-09T06:37:39Z- handleDvl() - RDI_Pathfinder msg: 1607495859.41 epoch sec; seqNo:653 2020-12-09T06:37:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.17 , 47.76 , 44.90 , 38.98 2020-12-09T06:37:39Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.12 , 0.08 2020-12-09T06:37:39Z- waiting for 1607495861.18, time is 1607495859.41 2020-12-09T06:37:39Z- sync is 0.03, coherence is 2.00 2020-12-09T06:37:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495859.43 epoch sec; seqNo:1188; 4061662.65 north; 594296.62 east 2020-12-09T06:37:39Z- waiting for 1607495861.18, time is 1607495859.41 2020-12-09T06:37:39Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:39Z- AHRS_M2 msg: 1607495859.79 epoch sec; seqNo:1150 2020-12-09T06:37:39Z- AHRS_M2 msg: 4.67 phi; 0.04 theta; -0.22 psi 2020-12-09T06:37:39Z- waiting for 1607495861.18, time is 1607495859.41 2020-12-09T06:37:39Z- sync is 0.37, coherence is 2.00 2020-12-09T06:37:39Z- handleDepth()-Depth_Keller msg: 50.01 epoch sec; seqNo:1607495859792; depth 0.00 2020-12-09T06:37:39Z- waiting for 1607495861.18, time is 1607495859.41 2020-12-09T06:37:39Z- sync is 0.37, coherence is 2.00 2020-12-09T06:37:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495859.81 epoch sec; seqNo:1189; 4061662.63 north; 594295.40 east 2020-12-09T06:37:39Z- waiting for 1607495861.18, time is 1607495859.41 2020-12-09T06:37:39Z- sync is 0.39, coherence is 2.00 2020-12-09T06:37:40Z- AHRS_M2 msg: 1607495860.19 epoch sec; seqNo:1151 2020-12-09T06:37:40Z- AHRS_M2 msg: 4.67 phi; 0.04 theta; -0.22 psi 2020-12-09T06:37:40Z- waiting for 1607495861.18, time is 1607495859.41 2020-12-09T06:37:40Z- sync is 0.77, coherence is 2.00 2020-12-09T06:37:40Z- handleDepth()-Depth_Keller msg: 50.04 epoch sec; seqNo:1607495860203; depth 0.00 2020-12-09T06:37:40Z- waiting for 1607495861.18, time is 1607495859.41 2020-12-09T06:37:40Z- sync is 0.77, coherence is 2.00 2020-12-09T06:37:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495860.22 epoch sec; seqNo:1190; 4061662.63 north; 594295.40 east 2020-12-09T06:37:40Z- waiting for 1607495861.18, time is 1607495859.41 2020-12-09T06:37:40Z- sync is 0.80, coherence is 2.00 2020-12-09T06:37:40Z- AHRS_M2 msg: 1607495860.60 epoch sec; seqNo:1152 2020-12-09T06:37:40Z- AHRS_M2 msg: 4.66 phi; 0.04 theta; -0.22 psi 2020-12-09T06:37:40Z- waiting for 1607495861.18, time is 1607495859.41 2020-12-09T06:37:40Z- sync is 1.19, coherence is 2.00 2020-12-09T06:37:40Z- handleDepth()-Depth_Keller msg: 50.05 epoch sec; seqNo:1607495860611; depth 0.00 2020-12-09T06:37:40Z- waiting for 1607495861.18, time is 1607495859.41 2020-12-09T06:37:40Z- sync is 1.19, coherence is 2.00 2020-12-09T06:37:40Z- handleDvl() - RDI_Pathfinder msg: 1607495860.63 epoch sec; seqNo:654 2020-12-09T06:37:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.17 , 47.96 , 44.90 , 38.98 2020-12-09T06:37:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.08 , 0.10 2020-12-09T06:37:40Z- waiting for 1607495861.18, time is 1607495860.63 2020-12-09T06:37:40Z- sync is 0.03, coherence is 2.00 2020-12-09T06:37:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495860.64 epoch sec; seqNo:1191; 4061662.63 north; 594295.40 east 2020-12-09T06:37:40Z- waiting for 1607495861.18, time is 1607495860.63 2020-12-09T06:37:40Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:40Z- AHRS_M2 msg: 1607495861.00 epoch sec; seqNo:1153 2020-12-09T06:37:40Z- AHRS_M2 msg: 4.66 phi; 0.03 theta; -0.23 psi 2020-12-09T06:37:40Z- waiting for 1607495861.18, time is 1607495860.63 2020-12-09T06:37:40Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:41Z- handleDepth()-Depth_Keller msg: 50.09 epoch sec; seqNo:1607495861082; depth 0.00 2020-12-09T06:37:41Z- waiting for 1607495861.18, time is 1607495860.63 2020-12-09T06:37:41Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495861.10 epoch sec; seqNo:1192; 4061662.62 north; 594294.18 east 2020-12-09T06:37:41Z- waiting for 1607495861.18, time is 1607495860.63 2020-12-09T06:37:41Z- sync is 0.47, coherence is 2.00 2020-12-09T06:37:41Z- AHRS_M2 msg: 1607495861.40 epoch sec; seqNo:1154 2020-12-09T06:37:41Z- AHRS_M2 msg: 4.66 phi; 0.03 theta; -0.22 psi 2020-12-09T06:37:41Z- waiting for 1607495861.18, time is 1607495860.63 2020-12-09T06:37:41Z- sync is 0.77, coherence is 2.00 2020-12-09T06:37:41Z- handleDepth()-Depth_Keller msg: 50.12 epoch sec; seqNo:1607495861491; depth 0.00 2020-12-09T06:37:41Z- waiting for 1607495861.18, time is 1607495860.63 2020-12-09T06:37:41Z- sync is 0.77, coherence is 2.00 2020-12-09T06:37:41Z- handleDvl() - RDI_Pathfinder msg: 1607495861.50 epoch sec; seqNo:655 2020-12-09T06:37:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.37 , 48.37 , 45.10 , 39.19 2020-12-09T06:37:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.04 , 0.12 2020-12-09T06:37:41Z- waiting for 1607495861.18, time is 1607495861.50 2020-12-09T06:37:41Z- sync is 0.10, coherence is 2.00 2020-12-09T06:37:41Z- LcmTrn::updateTrn() >>>> pose time 1607495861.40, meas time 1607495861.50 <<<< 2020-12-09T06:37:41Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495861.50 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:37:41Z- TerrainNav::motionUpdate() - currEstimate = (4061663, 594294.18, 50.12) 2020-12-09T06:37:41Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:37:41Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:37:41Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:37:41Z- TNavBF::mmse selected from filter -1 2020-12-09T06:37:41Z- variances([0], [2], and psi_berg) = 795.996065 833.094564 0.000000 2020-12-09T06:37:41Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:37:41Z- LcmTrn::cycle() - MLE : 4061635.12 594244.68 50.12 2020-12-09T06:37:41Z- LcmTrn::cycle() - MMSE : 4061662.62 594294.18 50.12 2020-12-09T06:37:41Z- LcmTrn::cycle() - COVAR: 796.00 833.09 47.35 0.00 2020-12-09T06:37:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495861.52 epoch sec; seqNo:1193; 4061662.62 north; 594294.18 east 2020-12-09T06:37:41Z- waiting for 1607495864.50, time is 1607495861.50 2020-12-09T06:37:41Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:41Z- AHRS_M2 msg: 1607495861.80 epoch sec; seqNo:1155 2020-12-09T06:37:41Z- AHRS_M2 msg: 4.66 phi; 0.03 theta; -0.23 psi 2020-12-09T06:37:41Z- waiting for 1607495864.50, time is 1607495861.50 2020-12-09T06:37:41Z- sync is 0.30, coherence is 2.00 2020-12-09T06:37:41Z- handleDepth()-Depth_Keller msg: 50.14 epoch sec; seqNo:1607495861854; depth 0.00 2020-12-09T06:37:41Z- waiting for 1607495864.50, time is 1607495861.50 2020-12-09T06:37:41Z- sync is 0.30, coherence is 2.00 2020-12-09T06:37:41Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:41Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:41Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:41Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:37:41Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:37:41Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:37:41Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:37:41Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:37:41Z- handleDvl() - RDI_Pathfinder msg: 1607495861.86 epoch sec; seqNo:656 2020-12-09T06:37:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:37:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.04 , 0.12 2020-12-09T06:37:41Z- waiting for 1607495864.50, time is 1607495861.86 2020-12-09T06:37:41Z- sync is 0.05, coherence is 2.00 2020-12-09T06:37:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495861.89 epoch sec; seqNo:1194; 4061662.62 north; 594294.18 east 2020-12-09T06:37:41Z- waiting for 1607495864.50, time is 1607495861.86 2020-12-09T06:37:41Z- sync is 0.03, coherence is 2.00 2020-12-09T06:37:42Z- AHRS_M2 msg: 1607495862.21 epoch sec; seqNo:1156 2020-12-09T06:37:42Z- AHRS_M2 msg: 4.66 phi; 0.03 theta; -0.23 psi 2020-12-09T06:37:42Z- waiting for 1607495864.50, time is 1607495861.86 2020-12-09T06:37:42Z- sync is 0.36, coherence is 2.00 2020-12-09T06:37:42Z- handleDepth()-Depth_Keller msg: 50.18 epoch sec; seqNo:1607495862251; depth 0.00 2020-12-09T06:37:42Z- waiting for 1607495864.50, time is 1607495861.86 2020-12-09T06:37:42Z- sync is 0.36, coherence is 2.00 2020-12-09T06:37:42Z- handleDvl() - RDI_Pathfinder msg: 1607495862.28 epoch sec; seqNo:657 2020-12-09T06:37:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.57 , 48.78 , 45.10 , 39.59 2020-12-09T06:37:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , 0.01 , 0.14 2020-12-09T06:37:42Z- waiting for 1607495864.50, time is 1607495862.28 2020-12-09T06:37:42Z- sync is 0.06, coherence is 2.00 2020-12-09T06:37:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495862.29 epoch sec; seqNo:1195; 4061662.62 north; 594294.18 east 2020-12-09T06:37:42Z- waiting for 1607495864.50, time is 1607495862.28 2020-12-09T06:37:42Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:42Z- AHRS_M2 msg: 1607495862.61 epoch sec; seqNo:1157 2020-12-09T06:37:42Z- AHRS_M2 msg: 4.66 phi; 0.03 theta; -0.23 psi 2020-12-09T06:37:42Z- waiting for 1607495864.50, time is 1607495862.28 2020-12-09T06:37:42Z- sync is 0.34, coherence is 2.00 2020-12-09T06:37:42Z- handleDepth()-Depth_Keller msg: 50.20 epoch sec; seqNo:1607495862638; depth 0.00 2020-12-09T06:37:42Z- waiting for 1607495864.50, time is 1607495862.28 2020-12-09T06:37:42Z- sync is 0.34, coherence is 2.00 2020-12-09T06:37:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495862.65 epoch sec; seqNo:1196; 4061662.61 north; 594292.96 east 2020-12-09T06:37:42Z- waiting for 1607495864.50, time is 1607495862.28 2020-12-09T06:37:42Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:43Z- handleDepth()-Depth_Keller msg: 50.22 epoch sec; seqNo:1607495863049; depth 0.00 2020-12-09T06:37:43Z- waiting for 1607495864.50, time is 1607495862.28 2020-12-09T06:37:43Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:43Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:43Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:43Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:43Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:37:43Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:37:43Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:37:43Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:37:43Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:37:43Z- handleDvl() - RDI_Pathfinder msg: 1607495863.05 epoch sec; seqNo:658 2020-12-09T06:37:43Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:37:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , 0.01 , 0.14 2020-12-09T06:37:43Z- waiting for 1607495864.50, time is 1607495863.05 2020-12-09T06:37:43Z- sync is 0.40, coherence is 2.00 2020-12-09T06:37:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495863.06 epoch sec; seqNo:1197; 4061662.61 north; 594292.96 east 2020-12-09T06:37:43Z- waiting for 1607495864.50, time is 1607495863.05 2020-12-09T06:37:43Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:43Z- AHRS_M2 msg: 1607495863.42 epoch sec; seqNo:1158 2020-12-09T06:37:43Z- AHRS_M2 msg: 4.66 phi; 0.03 theta; -0.22 psi 2020-12-09T06:37:43Z- waiting for 1607495864.50, time is 1607495863.05 2020-12-09T06:37:43Z- sync is 0.37, coherence is 2.00 2020-12-09T06:37:43Z- handleDepth()-Depth_Keller msg: 50.24 epoch sec; seqNo:1607495863427; depth 0.00 2020-12-09T06:37:43Z- waiting for 1607495864.50, time is 1607495863.05 2020-12-09T06:37:43Z- sync is 0.37, coherence is 2.00 2020-12-09T06:37:43Z- handleDvl() - RDI_Pathfinder msg: 1607495863.44 epoch sec; seqNo:659 2020-12-09T06:37:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.78 , 48.98 , 45.31 , 40.00 2020-12-09T06:37:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.02 , 0.13 2020-12-09T06:37:43Z- waiting for 1607495864.50, time is 1607495863.44 2020-12-09T06:37:43Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495863.47 epoch sec; seqNo:1198; 4061662.61 north; 594292.96 east 2020-12-09T06:37:43Z- waiting for 1607495864.50, time is 1607495863.44 2020-12-09T06:37:43Z- sync is 0.03, coherence is 2.00 2020-12-09T06:37:43Z- AHRS_M2 msg: 1607495863.83 epoch sec; seqNo:1159 2020-12-09T06:37:43Z- AHRS_M2 msg: 4.66 phi; 0.03 theta; -0.23 psi 2020-12-09T06:37:43Z- waiting for 1607495864.50, time is 1607495863.44 2020-12-09T06:37:43Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:43Z- handleDepth()-Depth_Keller msg: 50.24 epoch sec; seqNo:1607495863832; depth 0.00 2020-12-09T06:37:43Z- waiting for 1607495864.50, time is 1607495863.44 2020-12-09T06:37:43Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495863.85 epoch sec; seqNo:1199; 4061662.61 north; 594292.96 east 2020-12-09T06:37:43Z- waiting for 1607495864.50, time is 1607495863.44 2020-12-09T06:37:43Z- sync is 0.40, coherence is 2.00 2020-12-09T06:37:44Z- AHRS_M2 msg: 1607495864.26 epoch sec; seqNo:1160 2020-12-09T06:37:44Z- AHRS_M2 msg: 4.65 phi; 0.03 theta; -0.22 psi 2020-12-09T06:37:44Z- waiting for 1607495864.50, time is 1607495863.44 2020-12-09T06:37:44Z- sync is 0.82, coherence is 2.00 2020-12-09T06:37:44Z- handleDepth()-Depth_Keller msg: 50.25 epoch sec; seqNo:1607495864268; depth 0.00 2020-12-09T06:37:44Z- waiting for 1607495864.50, time is 1607495863.44 2020-12-09T06:37:44Z- sync is 0.82, coherence is 2.00 2020-12-09T06:37:44Z- handleDvl() - RDI_Pathfinder msg: 1607495864.28 epoch sec; seqNo:660 2020-12-09T06:37:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.78 , 49.19 , 45.51 , 40.21 2020-12-09T06:37:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , -0.04 , 0.10 2020-12-09T06:37:44Z- waiting for 1607495864.50, time is 1607495864.28 2020-12-09T06:37:44Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495864.31 epoch sec; seqNo:1200; 4061662.59 north; 594291.74 east 2020-12-09T06:37:44Z- waiting for 1607495864.50, time is 1607495864.28 2020-12-09T06:37:44Z- sync is 0.03, coherence is 2.00 2020-12-09T06:37:44Z- AHRS_M2 msg: 1607495864.63 epoch sec; seqNo:1161 2020-12-09T06:37:44Z- AHRS_M2 msg: 4.66 phi; 0.03 theta; -0.23 psi 2020-12-09T06:37:44Z- waiting for 1607495864.50, time is 1607495864.28 2020-12-09T06:37:44Z- sync is 0.35, coherence is 2.00 2020-12-09T06:37:44Z- handleDepth()-Depth_Keller msg: 50.24 epoch sec; seqNo:1607495864638; depth 0.00 2020-12-09T06:37:44Z- waiting for 1607495864.50, time is 1607495864.28 2020-12-09T06:37:44Z- sync is 0.35, coherence is 2.00 2020-12-09T06:37:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495864.65 epoch sec; seqNo:1201; 4061662.59 north; 594291.74 east 2020-12-09T06:37:44Z- waiting for 1607495864.50, time is 1607495864.28 2020-12-09T06:37:44Z- sync is 0.37, coherence is 2.00 2020-12-09T06:37:45Z- AHRS_M2 msg: 1607495865.04 epoch sec; seqNo:1162 2020-12-09T06:37:45Z- AHRS_M2 msg: 4.66 phi; 0.03 theta; -0.23 psi 2020-12-09T06:37:45Z- waiting for 1607495864.50, time is 1607495864.28 2020-12-09T06:37:45Z- sync is 0.76, coherence is 2.00 2020-12-09T06:37:45Z- handleDepth()-Depth_Keller msg: 50.24 epoch sec; seqNo:1607495865046; depth 0.00 2020-12-09T06:37:45Z- waiting for 1607495864.50, time is 1607495864.28 2020-12-09T06:37:45Z- sync is 0.76, coherence is 2.00 2020-12-09T06:37:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495865.06 epoch sec; seqNo:1202; 4061662.59 north; 594291.74 east 2020-12-09T06:37:45Z- waiting for 1607495864.50, time is 1607495864.28 2020-12-09T06:37:45Z- sync is 0.78, coherence is 2.00 2020-12-09T06:37:45Z- AHRS_M2 msg: 1607495865.44 epoch sec; seqNo:1163 2020-12-09T06:37:45Z- AHRS_M2 msg: 4.66 phi; 0.03 theta; -0.23 psi 2020-12-09T06:37:45Z- waiting for 1607495864.50, time is 1607495864.28 2020-12-09T06:37:45Z- sync is 1.16, coherence is 2.00 2020-12-09T06:37:45Z- handleDepth()-Depth_Keller msg: 50.22 epoch sec; seqNo:1607495865447; depth 0.00 2020-12-09T06:37:45Z- waiting for 1607495864.50, time is 1607495864.28 2020-12-09T06:37:45Z- sync is 1.16, coherence is 2.00 2020-12-09T06:37:45Z- handleDvl() - RDI_Pathfinder msg: 1607495865.46 epoch sec; seqNo:661 2020-12-09T06:37:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.78 , 49.39 , 45.51 , 40.61 2020-12-09T06:37:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.68 , -0.06 , 0.04 2020-12-09T06:37:45Z- waiting for 1607495864.50, time is 1607495865.46 2020-12-09T06:37:45Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:45Z- LcmTrn::updateTrn() >>>> pose time 1607495865.44, meas time 1607495865.46 <<<< 2020-12-09T06:37:45Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495865.46 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:37:45Z- TerrainNav::motionUpdate() - currEstimate = (4061663, 594291.74, 50.22) 2020-12-09T06:37:45Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:37:45Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:37:45Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:37:45Z- TNavBF::mmse selected from filter -1 2020-12-09T06:37:45Z- variances([0], [2], and psi_berg) = 795.834581 833.094245 0.000000 2020-12-09T06:37:45Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:37:45Z- LcmTrn::cycle() - MLE : 4061635.09 594242.24 50.22 2020-12-09T06:37:45Z- LcmTrn::cycle() - MMSE : 4061662.59 594291.74 50.22 2020-12-09T06:37:45Z- LcmTrn::cycle() - COVAR: 795.83 833.09 47.48 0.00 2020-12-09T06:37:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495865.47 epoch sec; seqNo:1203; 4061662.59 north; 594291.74 east 2020-12-09T06:37:45Z- waiting for 1607495868.46, time is 1607495865.46 2020-12-09T06:37:45Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:45Z- AHRS_M2 msg: 1607495865.85 epoch sec; seqNo:1164 2020-12-09T06:37:45Z- AHRS_M2 msg: 4.66 phi; 0.03 theta; -0.23 psi 2020-12-09T06:37:45Z- waiting for 1607495868.46, time is 1607495865.46 2020-12-09T06:37:45Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:45Z- handleDepth()-Depth_Keller msg: 50.20 epoch sec; seqNo:1607495865860; depth 0.00 2020-12-09T06:37:45Z- waiting for 1607495868.46, time is 1607495865.46 2020-12-09T06:37:45Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495865.87 epoch sec; seqNo:1204; 4061662.58 north; 594290.52 east 2020-12-09T06:37:45Z- waiting for 1607495868.46, time is 1607495865.46 2020-12-09T06:37:45Z- sync is 0.41, coherence is 2.00 2020-12-09T06:37:46Z- AHRS_M2 msg: 1607495866.27 epoch sec; seqNo:1165 2020-12-09T06:37:46Z- AHRS_M2 msg: 4.66 phi; 0.03 theta; -0.23 psi 2020-12-09T06:37:46Z- waiting for 1607495868.46, time is 1607495865.46 2020-12-09T06:37:46Z- sync is 0.81, coherence is 2.00 2020-12-09T06:37:46Z- handleDepth()-Depth_Keller msg: 50.17 epoch sec; seqNo:1607495866271; depth 0.00 2020-12-09T06:37:46Z- waiting for 1607495868.46, time is 1607495865.46 2020-12-09T06:37:46Z- sync is 0.81, coherence is 2.00 2020-12-09T06:37:46Z- handleDvl() - RDI_Pathfinder msg: 1607495866.30 epoch sec; seqNo:662 2020-12-09T06:37:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.57 , 48.98 , 45.31 , 40.82 2020-12-09T06:37:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.67 , -0.05 , -0.04 2020-12-09T06:37:46Z- waiting for 1607495868.46, time is 1607495866.30 2020-12-09T06:37:46Z- sync is 0.03, coherence is 2.00 2020-12-09T06:37:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495866.32 epoch sec; seqNo:1205; 4061662.58 north; 594290.52 east 2020-12-09T06:37:46Z- waiting for 1607495868.46, time is 1607495866.30 2020-12-09T06:37:46Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:46Z- AHRS_M2 msg: 1607495866.66 epoch sec; seqNo:1166 2020-12-09T06:37:46Z- AHRS_M2 msg: 4.66 phi; 0.03 theta; -0.23 psi 2020-12-09T06:37:46Z- waiting for 1607495868.46, time is 1607495866.30 2020-12-09T06:37:46Z- sync is 0.37, coherence is 2.00 2020-12-09T06:37:46Z- handleDepth()-Depth_Keller msg: 50.13 epoch sec; seqNo:1607495866671; depth 0.00 2020-12-09T06:37:46Z- waiting for 1607495868.46, time is 1607495866.30 2020-12-09T06:37:46Z- sync is 0.37, coherence is 2.00 2020-12-09T06:37:46Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:46Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:46Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:46Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:37:46Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:37:46Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:37:46Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:37:46Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:37:46Z- handleDvl() - RDI_Pathfinder msg: 1607495866.67 epoch sec; seqNo:663 2020-12-09T06:37:46Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:37:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.67 , -0.05 , -0.04 2020-12-09T06:37:46Z- waiting for 1607495868.46, time is 1607495866.67 2020-12-09T06:37:46Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495866.69 epoch sec; seqNo:1206; 4061662.20 north; 594290.52 east 2020-12-09T06:37:46Z- waiting for 1607495868.46, time is 1607495866.67 2020-12-09T06:37:46Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:47Z- AHRS_M2 msg: 1607495867.06 epoch sec; seqNo:1167 2020-12-09T06:37:47Z- AHRS_M2 msg: 4.67 phi; 0.03 theta; -0.23 psi 2020-12-09T06:37:47Z- waiting for 1607495868.46, time is 1607495866.67 2020-12-09T06:37:47Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:47Z- handleDepth()-Depth_Keller msg: 50.11 epoch sec; seqNo:1607495867064; depth 0.00 2020-12-09T06:37:47Z- waiting for 1607495868.46, time is 1607495866.67 2020-12-09T06:37:47Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495867.08 epoch sec; seqNo:1207; 4061662.20 north; 594290.52 east 2020-12-09T06:37:47Z- waiting for 1607495868.46, time is 1607495866.67 2020-12-09T06:37:47Z- sync is 0.40, coherence is 2.00 2020-12-09T06:37:47Z- AHRS_M2 msg: 1607495867.46 epoch sec; seqNo:1168 2020-12-09T06:37:47Z- AHRS_M2 msg: 4.67 phi; 0.03 theta; -0.23 psi 2020-12-09T06:37:47Z- waiting for 1607495868.46, time is 1607495866.67 2020-12-09T06:37:47Z- sync is 0.79, coherence is 2.00 2020-12-09T06:37:47Z- handleDepth()-Depth_Keller msg: 50.06 epoch sec; seqNo:1607495867467; depth 0.00 2020-12-09T06:37:47Z- waiting for 1607495868.46, time is 1607495866.67 2020-12-09T06:37:47Z- sync is 0.79, coherence is 2.00 2020-12-09T06:37:47Z- handleDvl() - RDI_Pathfinder msg: 1607495867.49 epoch sec; seqNo:664 2020-12-09T06:37:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.78 , 48.78 , 45.10 , 41.23 2020-12-09T06:37:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.03 , -0.13 2020-12-09T06:37:47Z- waiting for 1607495868.46, time is 1607495867.49 2020-12-09T06:37:47Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495867.50 epoch sec; seqNo:1208; 4061662.19 north; 594289.30 east 2020-12-09T06:37:47Z- waiting for 1607495868.46, time is 1607495867.49 2020-12-09T06:37:47Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:47Z- AHRS_M2 msg: 1607495867.87 epoch sec; seqNo:1169 2020-12-09T06:37:47Z- AHRS_M2 msg: 4.68 phi; 0.03 theta; -0.23 psi 2020-12-09T06:37:47Z- waiting for 1607495868.46, time is 1607495867.49 2020-12-09T06:37:47Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:47Z- handleDepth()-Depth_Keller msg: 50.02 epoch sec; seqNo:1607495867870; depth 0.00 2020-12-09T06:37:47Z- waiting for 1607495868.46, time is 1607495867.49 2020-12-09T06:37:47Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:47Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:47Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:47Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:47Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:37:47Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:37:47Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:37:47Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:37:47Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:37:47Z- handleDvl() - RDI_Pathfinder msg: 1607495867.87 epoch sec; seqNo:665 2020-12-09T06:37:47Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:37:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , -0.03 , -0.13 2020-12-09T06:37:47Z- waiting for 1607495868.46, time is 1607495867.87 2020-12-09T06:37:47Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495867.88 epoch sec; seqNo:1209; 4061662.19 north; 594289.30 east 2020-12-09T06:37:47Z- waiting for 1607495868.46, time is 1607495867.87 2020-12-09T06:37:47Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:48Z- handleDepth()-Depth_Keller msg: 49.99 epoch sec; seqNo:1607495868294; depth 0.00 2020-12-09T06:37:48Z- waiting for 1607495868.46, time is 1607495867.87 2020-12-09T06:37:48Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:48Z- handleDvl() - RDI_Pathfinder msg: 1607495868.32 epoch sec; seqNo:666 2020-12-09T06:37:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.78 , 48.37 , 44.49 , 40.82 2020-12-09T06:37:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.00 , -0.21 2020-12-09T06:37:48Z- waiting for 1607495868.46, time is 1607495868.32 2020-12-09T06:37:48Z- sync is 0.43, coherence is 2.00 2020-12-09T06:37:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495868.33 epoch sec; seqNo:1210; 4061662.19 north; 594289.30 east 2020-12-09T06:37:48Z- waiting for 1607495868.46, time is 1607495868.32 2020-12-09T06:37:48Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:48Z- AHRS_M2 msg: 1607495868.67 epoch sec; seqNo:1170 2020-12-09T06:37:48Z- AHRS_M2 msg: 4.68 phi; 0.03 theta; -0.23 psi 2020-12-09T06:37:48Z- waiting for 1607495868.46, time is 1607495868.32 2020-12-09T06:37:48Z- sync is 0.36, coherence is 2.00 2020-12-09T06:37:48Z- handleDepth()-Depth_Keller msg: 49.93 epoch sec; seqNo:1607495868681; depth 0.00 2020-12-09T06:37:48Z- waiting for 1607495868.46, time is 1607495868.32 2020-12-09T06:37:48Z- sync is 0.36, coherence is 2.00 2020-12-09T06:37:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495868.69 epoch sec; seqNo:1211; 4061662.19 north; 594289.30 east 2020-12-09T06:37:48Z- waiting for 1607495868.46, time is 1607495868.32 2020-12-09T06:37:48Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:49Z- AHRS_M2 msg: 1607495869.08 epoch sec; seqNo:1171 2020-12-09T06:37:49Z- AHRS_M2 msg: 4.68 phi; 0.03 theta; -0.22 psi 2020-12-09T06:37:49Z- waiting for 1607495868.46, time is 1607495868.32 2020-12-09T06:37:49Z- sync is 0.76, coherence is 2.00 2020-12-09T06:37:49Z- handleDepth()-Depth_Keller msg: 49.89 epoch sec; seqNo:1607495869084; depth 0.00 2020-12-09T06:37:49Z- waiting for 1607495868.46, time is 1607495868.32 2020-12-09T06:37:49Z- sync is 0.76, coherence is 2.00 2020-12-09T06:37:49Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:49Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:49Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:49Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:37:49Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:37:49Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:37:49Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:37:49Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:37:49Z- handleDvl() - RDI_Pathfinder msg: 1607495869.09 epoch sec; seqNo:667 2020-12-09T06:37:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:37:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.00 , -0.21 2020-12-09T06:37:49Z- waiting for 1607495868.46, time is 1607495869.09 2020-12-09T06:37:49Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:49Z- LcmTrn::updateTrn() >>>> pose time 1607495869.08, meas time 1607495869.09 <<<< 2020-12-09T06:37:49Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495869.09, ping # 0. 2020-12-09T06:37:49Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495869.09 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:37:49Z- TerrainNav::motionUpdate() - currEstimate = (4061662, 594289.30, 49.89) 2020-12-09T06:37:49Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:37:49Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:37:49Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:37:49Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:37:49Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:37:49Z- TNavBF::mmse selected from filter -1 2020-12-09T06:37:49Z- variances([0], [2], and psi_berg) = 795.672684 833.093927 0.000000 2020-12-09T06:37:49Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:37:49Z- LcmTrn::cycle() - MLE : 4061634.69 594239.80 49.89 2020-12-09T06:37:49Z- LcmTrn::cycle() - MMSE : 4061662.19 594289.30 49.89 2020-12-09T06:37:49Z- LcmTrn::cycle() - COVAR: 795.67 833.09 47.60 0.00 2020-12-09T06:37:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495869.11 epoch sec; seqNo:1212; 4061662.18 north; 594288.08 east 2020-12-09T06:37:49Z- waiting for 1607495872.09, time is 1607495869.09 2020-12-09T06:37:49Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:49Z- AHRS_M2 msg: 1607495869.48 epoch sec; seqNo:1172 2020-12-09T06:37:49Z- AHRS_M2 msg: 4.69 phi; 0.03 theta; -0.22 psi 2020-12-09T06:37:49Z- waiting for 1607495872.09, time is 1607495869.09 2020-12-09T06:37:49Z- sync is 0.39, coherence is 2.00 2020-12-09T06:37:49Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1607495869489; depth 0.00 2020-12-09T06:37:49Z- waiting for 1607495872.09, time is 1607495869.09 2020-12-09T06:37:49Z- sync is 0.39, coherence is 2.00 2020-12-09T06:37:49Z- handleDvl() - RDI_Pathfinder msg: 1607495869.51 epoch sec; seqNo:668 2020-12-09T06:37:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.98 , 48.37 , 44.29 , 40.61 2020-12-09T06:37:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.03 , -0.24 2020-12-09T06:37:49Z- waiting for 1607495872.09, time is 1607495869.51 2020-12-09T06:37:49Z- sync is 0.03, coherence is 2.00 2020-12-09T06:37:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495869.52 epoch sec; seqNo:1213; 4061662.18 north; 594288.08 east 2020-12-09T06:37:49Z- waiting for 1607495872.09, time is 1607495869.51 2020-12-09T06:37:49Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:49Z- AHRS_M2 msg: 1607495869.89 epoch sec; seqNo:1173 2020-12-09T06:37:49Z- AHRS_M2 msg: 4.69 phi; 0.03 theta; -0.22 psi 2020-12-09T06:37:49Z- waiting for 1607495872.09, time is 1607495869.51 2020-12-09T06:37:49Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:49Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1607495869898; depth 0.00 2020-12-09T06:37:49Z- waiting for 1607495872.09, time is 1607495869.51 2020-12-09T06:37:49Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495869.91 epoch sec; seqNo:1214; 4061662.18 north; 594288.08 east 2020-12-09T06:37:49Z- waiting for 1607495872.09, time is 1607495869.51 2020-12-09T06:37:49Z- sync is 0.40, coherence is 2.00 2020-12-09T06:37:50Z- AHRS_M2 msg: 1607495870.30 epoch sec; seqNo:1174 2020-12-09T06:37:50Z- AHRS_M2 msg: 4.68 phi; 0.03 theta; -0.22 psi 2020-12-09T06:37:50Z- waiting for 1607495872.09, time is 1607495869.51 2020-12-09T06:37:50Z- sync is 0.79, coherence is 2.00 2020-12-09T06:37:50Z- handleDepth()-Depth_Keller msg: 49.74 epoch sec; seqNo:1607495870304; depth 0.00 2020-12-09T06:37:50Z- waiting for 1607495872.09, time is 1607495869.51 2020-12-09T06:37:50Z- sync is 0.79, coherence is 2.00 2020-12-09T06:37:50Z- handleDvl() - RDI_Pathfinder msg: 1607495870.32 epoch sec; seqNo:669 2020-12-09T06:37:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.78 , 47.96 , 44.08 , 40.82 2020-12-09T06:37:50Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , 0.06 , -0.24 2020-12-09T06:37:50Z- waiting for 1607495872.09, time is 1607495870.32 2020-12-09T06:37:50Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495870.33 epoch sec; seqNo:1215; 4061662.16 north; 594286.86 east 2020-12-09T06:37:50Z- waiting for 1607495872.09, time is 1607495870.32 2020-12-09T06:37:50Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:50Z- AHRS_M2 msg: 1607495870.69 epoch sec; seqNo:1175 2020-12-09T06:37:50Z- AHRS_M2 msg: 4.68 phi; 0.02 theta; -0.22 psi 2020-12-09T06:37:50Z- waiting for 1607495872.09, time is 1607495870.32 2020-12-09T06:37:50Z- sync is 0.37, coherence is 2.00 2020-12-09T06:37:50Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1607495870702; depth 0.00 2020-12-09T06:37:50Z- waiting for 1607495872.09, time is 1607495870.32 2020-12-09T06:37:50Z- sync is 0.37, coherence is 2.00 2020-12-09T06:37:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495870.72 epoch sec; seqNo:1216; 4061662.16 north; 594286.86 east 2020-12-09T06:37:50Z- waiting for 1607495872.09, time is 1607495870.32 2020-12-09T06:37:50Z- sync is 0.40, coherence is 2.00 2020-12-09T06:37:51Z- AHRS_M2 msg: 1607495871.10 epoch sec; seqNo:1176 2020-12-09T06:37:51Z- AHRS_M2 msg: 4.68 phi; 0.02 theta; -0.22 psi 2020-12-09T06:37:51Z- waiting for 1607495872.09, time is 1607495870.32 2020-12-09T06:37:51Z- sync is 0.78, coherence is 2.00 2020-12-09T06:37:51Z- handleDepth()-Depth_Keller msg: 49.64 epoch sec; seqNo:1607495871102; depth 0.00 2020-12-09T06:37:51Z- waiting for 1607495872.09, time is 1607495870.32 2020-12-09T06:37:51Z- sync is 0.78, coherence is 2.00 2020-12-09T06:37:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495871.11 epoch sec; seqNo:1217; 4061662.16 north; 594286.86 east 2020-12-09T06:37:51Z- waiting for 1607495872.09, time is 1607495870.32 2020-12-09T06:37:51Z- sync is 0.79, coherence is 2.00 2020-12-09T06:37:51Z- AHRS_M2 msg: 1607495871.50 epoch sec; seqNo:1177 2020-12-09T06:37:51Z- AHRS_M2 msg: 4.68 phi; 0.02 theta; -0.21 psi 2020-12-09T06:37:51Z- waiting for 1607495872.09, time is 1607495870.32 2020-12-09T06:37:51Z- sync is 1.18, coherence is 2.00 2020-12-09T06:37:51Z- handleDepth()-Depth_Keller msg: 49.62 epoch sec; seqNo:1607495871513; depth 0.00 2020-12-09T06:37:51Z- waiting for 1607495872.09, time is 1607495870.32 2020-12-09T06:37:51Z- sync is 1.18, coherence is 2.00 2020-12-09T06:37:51Z- handleDvl() - RDI_Pathfinder msg: 1607495871.53 epoch sec; seqNo:670 2020-12-09T06:37:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.78 , 48.37 , 43.88 , 41.02 2020-12-09T06:37:51Z- handleDvl() - RDI_Pathfinder msg: velocities 1.17 , 0.07 , -0.19 2020-12-09T06:37:51Z- waiting for 1607495872.09, time is 1607495871.53 2020-12-09T06:37:51Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495871.54 epoch sec; seqNo:1218; 4061662.15 north; 594285.64 east 2020-12-09T06:37:51Z- waiting for 1607495872.09, time is 1607495871.53 2020-12-09T06:37:51Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:51Z- AHRS_M2 msg: 1607495871.90 epoch sec; seqNo:1178 2020-12-09T06:37:51Z- AHRS_M2 msg: 4.68 phi; 0.02 theta; -0.21 psi 2020-12-09T06:37:51Z- waiting for 1607495872.09, time is 1607495871.53 2020-12-09T06:37:51Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:51Z- handleDepth()-Depth_Keller msg: 49.59 epoch sec; seqNo:1607495871911; depth 0.00 2020-12-09T06:37:51Z- waiting for 1607495872.09, time is 1607495871.53 2020-12-09T06:37:51Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495871.93 epoch sec; seqNo:1219; 4061662.15 north; 594285.64 east 2020-12-09T06:37:51Z- waiting for 1607495872.09, time is 1607495871.53 2020-12-09T06:37:51Z- sync is 0.40, coherence is 2.00 2020-12-09T06:37:52Z- AHRS_M2 msg: 1607495872.32 epoch sec; seqNo:1179 2020-12-09T06:37:52Z- AHRS_M2 msg: 4.67 phi; 0.02 theta; -0.21 psi 2020-12-09T06:37:52Z- waiting for 1607495872.09, time is 1607495871.53 2020-12-09T06:37:52Z- sync is 0.79, coherence is 2.00 2020-12-09T06:37:52Z- handleDepth()-Depth_Keller msg: 49.57 epoch sec; seqNo:1607495872320; depth 0.00 2020-12-09T06:37:52Z- waiting for 1607495872.09, time is 1607495871.53 2020-12-09T06:37:52Z- sync is 0.79, coherence is 2.00 2020-12-09T06:37:52Z- handleDvl() - RDI_Pathfinder msg: 1607495872.33 epoch sec; seqNo:671 2020-12-09T06:37:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.57 , 48.57 , 43.88 , 41.02 2020-12-09T06:37:52Z- handleDvl() - RDI_Pathfinder msg: velocities 1.24 , 0.10 , -0.11 2020-12-09T06:37:52Z- waiting for 1607495872.09, time is 1607495872.33 2020-12-09T06:37:52Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:52Z- LcmTrn::updateTrn() >>>> pose time 1607495872.32, meas time 1607495872.33 <<<< 2020-12-09T06:37:52Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495872.33 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:37:52Z- TerrainNav::motionUpdate() - currEstimate = (4061662, 594285.64, 49.57) 2020-12-09T06:37:52Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:37:52Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:37:52Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:37:52Z- TNavBF::mmse selected from filter -1 2020-12-09T06:37:52Z- variances([0], [2], and psi_berg) = 795.476243 833.093543 0.000000 2020-12-09T06:37:52Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:37:52Z- LcmTrn::cycle() - MLE : 4061634.65 594236.14 49.57 2020-12-09T06:37:52Z- LcmTrn::cycle() - MMSE : 4061662.15 594285.64 49.57 2020-12-09T06:37:52Z- LcmTrn::cycle() - COVAR: 795.48 833.09 47.79 0.00 2020-12-09T06:37:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495872.35 epoch sec; seqNo:1220; 4061662.15 north; 594285.64 east 2020-12-09T06:37:52Z- waiting for 1607495875.33, time is 1607495872.33 2020-12-09T06:37:52Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:52Z- AHRS_M2 msg: 1607495872.71 epoch sec; seqNo:1180 2020-12-09T06:37:52Z- AHRS_M2 msg: 4.67 phi; 0.02 theta; -0.21 psi 2020-12-09T06:37:52Z- waiting for 1607495875.33, time is 1607495872.33 2020-12-09T06:37:52Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:52Z- handleDepth()-Depth_Keller msg: 49.56 epoch sec; seqNo:1607495872720; depth 0.00 2020-12-09T06:37:52Z- waiting for 1607495875.33, time is 1607495872.33 2020-12-09T06:37:52Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:52Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:52Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:52Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:52Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:37:52Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:37:52Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:37:52Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:37:52Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:37:52Z- handleDvl() - RDI_Pathfinder msg: 1607495872.72 epoch sec; seqNo:672 2020-12-09T06:37:52Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:37:52Z- handleDvl() - RDI_Pathfinder msg: velocities 1.24 , 0.10 , -0.11 2020-12-09T06:37:52Z- waiting for 1607495875.33, time is 1607495872.72 2020-12-09T06:37:52Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495872.73 epoch sec; seqNo:1221; 4061662.13 north; 594284.42 east 2020-12-09T06:37:52Z- waiting for 1607495875.33, time is 1607495872.72 2020-12-09T06:37:52Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:53Z- AHRS_M2 msg: 1607495873.12 epoch sec; seqNo:1181 2020-12-09T06:37:53Z- AHRS_M2 msg: 4.66 phi; 0.02 theta; -0.21 psi 2020-12-09T06:37:53Z- waiting for 1607495875.33, time is 1607495872.72 2020-12-09T06:37:53Z- sync is 0.40, coherence is 2.00 2020-12-09T06:37:53Z- handleDepth()-Depth_Keller msg: 49.56 epoch sec; seqNo:1607495873124; depth 0.00 2020-12-09T06:37:53Z- waiting for 1607495875.33, time is 1607495872.72 2020-12-09T06:37:53Z- sync is 0.40, coherence is 2.00 2020-12-09T06:37:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495873.14 epoch sec; seqNo:1222; 4061662.13 north; 594284.42 east 2020-12-09T06:37:53Z- waiting for 1607495875.33, time is 1607495872.72 2020-12-09T06:37:53Z- sync is 0.42, coherence is 2.00 2020-12-09T06:37:53Z- AHRS_M2 msg: 1607495873.52 epoch sec; seqNo:1182 2020-12-09T06:37:53Z- AHRS_M2 msg: 4.66 phi; 0.02 theta; -0.21 psi 2020-12-09T06:37:53Z- waiting for 1607495875.33, time is 1607495872.72 2020-12-09T06:37:53Z- sync is 0.80, coherence is 2.00 2020-12-09T06:37:53Z- handleDepth()-Depth_Keller msg: 49.57 epoch sec; seqNo:1607495873530; depth 0.00 2020-12-09T06:37:53Z- waiting for 1607495875.33, time is 1607495872.72 2020-12-09T06:37:53Z- sync is 0.80, coherence is 2.00 2020-12-09T06:37:53Z- handleDvl() - RDI_Pathfinder msg: 1607495873.54 epoch sec; seqNo:673 2020-12-09T06:37:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.78 , 48.57 , 43.88 , 41.02 2020-12-09T06:37:53Z- handleDvl() - RDI_Pathfinder msg: velocities 1.26 , 0.12 , -0.01 2020-12-09T06:37:53Z- waiting for 1607495875.33, time is 1607495873.54 2020-12-09T06:37:53Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495873.57 epoch sec; seqNo:1223; 4061662.12 north; 594283.20 east 2020-12-09T06:37:53Z- waiting for 1607495875.33, time is 1607495873.54 2020-12-09T06:37:53Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:53Z- AHRS_M2 msg: 1607495873.92 epoch sec; seqNo:1183 2020-12-09T06:37:53Z- AHRS_M2 msg: 4.65 phi; 0.02 theta; -0.21 psi 2020-12-09T06:37:53Z- waiting for 1607495875.33, time is 1607495873.54 2020-12-09T06:37:53Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:53Z- handleDepth()-Depth_Keller msg: 49.59 epoch sec; seqNo:1607495873934; depth 0.00 2020-12-09T06:37:53Z- waiting for 1607495875.33, time is 1607495873.54 2020-12-09T06:37:53Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:53Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:53Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:53Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:53Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:37:53Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:37:53Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:37:53Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:37:53Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:37:53Z- handleDvl() - RDI_Pathfinder msg: 1607495873.94 epoch sec; seqNo:674 2020-12-09T06:37:53Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:37:53Z- handleDvl() - RDI_Pathfinder msg: velocities 1.26 , 0.12 , -0.01 2020-12-09T06:37:53Z- waiting for 1607495875.33, time is 1607495873.94 2020-12-09T06:37:53Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495873.95 epoch sec; seqNo:1224; 4061662.12 north; 594283.20 east 2020-12-09T06:37:53Z- waiting for 1607495875.33, time is 1607495873.94 2020-12-09T06:37:53Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:54Z- handleDepth()-Depth_Keller msg: 49.60 epoch sec; seqNo:1607495874411; depth 0.00 2020-12-09T06:37:54Z- waiting for 1607495875.33, time is 1607495873.94 2020-12-09T06:37:54Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:54Z- handleDvl() - RDI_Pathfinder msg: 1607495874.42 epoch sec; seqNo:675 2020-12-09T06:37:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.78 , 49.19 , 44.08 , 41.02 2020-12-09T06:37:54Z- handleDvl() - RDI_Pathfinder msg: velocities 1.20 , 0.12 , 0.09 2020-12-09T06:37:54Z- waiting for 1607495875.33, time is 1607495874.42 2020-12-09T06:37:54Z- sync is 0.47, coherence is 2.00 2020-12-09T06:37:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495874.45 epoch sec; seqNo:1225; 4061662.11 north; 594281.98 east 2020-12-09T06:37:54Z- waiting for 1607495875.33, time is 1607495874.42 2020-12-09T06:37:54Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:54Z- AHRS_M2 msg: 1607495874.73 epoch sec; seqNo:1184 2020-12-09T06:37:54Z- AHRS_M2 msg: 4.64 phi; 0.02 theta; -0.21 psi 2020-12-09T06:37:54Z- waiting for 1607495875.33, time is 1607495874.42 2020-12-09T06:37:54Z- sync is 0.31, coherence is 2.00 2020-12-09T06:37:54Z- handleDepth()-Depth_Keller msg: 49.64 epoch sec; seqNo:1607495874816; depth 0.00 2020-12-09T06:37:54Z- waiting for 1607495875.33, time is 1607495874.42 2020-12-09T06:37:54Z- sync is 0.31, coherence is 2.00 2020-12-09T06:37:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495874.83 epoch sec; seqNo:1226; 4061662.11 north; 594281.98 east 2020-12-09T06:37:54Z- waiting for 1607495875.33, time is 1607495874.42 2020-12-09T06:37:54Z- sync is 0.41, coherence is 2.00 2020-12-09T06:37:55Z- AHRS_M2 msg: 1607495875.14 epoch sec; seqNo:1185 2020-12-09T06:37:55Z- AHRS_M2 msg: 4.64 phi; 0.01 theta; -0.21 psi 2020-12-09T06:37:55Z- waiting for 1607495875.33, time is 1607495874.42 2020-12-09T06:37:55Z- sync is 0.71, coherence is 2.00 2020-12-09T06:37:55Z- handleDepth()-Depth_Keller msg: 49.67 epoch sec; seqNo:1607495875181; depth 0.00 2020-12-09T06:37:55Z- waiting for 1607495875.33, time is 1607495874.42 2020-12-09T06:37:55Z- sync is 0.71, coherence is 2.00 2020-12-09T06:37:55Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:55Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:55Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:55Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:37:55Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:37:55Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:37:55Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:37:55Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:37:55Z- handleDvl() - RDI_Pathfinder msg: 1607495875.18 epoch sec; seqNo:676 2020-12-09T06:37:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:37:55Z- handleDvl() - RDI_Pathfinder msg: velocities 1.20 , 0.12 , 0.09 2020-12-09T06:37:55Z- waiting for 1607495875.33, time is 1607495875.18 2020-12-09T06:37:55Z- sync is 0.05, coherence is 2.00 2020-12-09T06:37:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495875.20 epoch sec; seqNo:1227; 4061662.11 north; 594281.98 east 2020-12-09T06:37:55Z- waiting for 1607495875.33, time is 1607495875.18 2020-12-09T06:37:55Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:55Z- AHRS_M2 msg: 1607495875.54 epoch sec; seqNo:1186 2020-12-09T06:37:55Z- AHRS_M2 msg: 4.64 phi; 0.01 theta; -0.21 psi 2020-12-09T06:37:55Z- waiting for 1607495875.33, time is 1607495875.18 2020-12-09T06:37:55Z- sync is 0.36, coherence is 2.00 2020-12-09T06:37:55Z- handleDepth()-Depth_Keller msg: 49.70 epoch sec; seqNo:1607495875580; depth 0.00 2020-12-09T06:37:55Z- waiting for 1607495875.33, time is 1607495875.18 2020-12-09T06:37:55Z- sync is 0.36, coherence is 2.00 2020-12-09T06:37:55Z- handleDvl() - RDI_Pathfinder msg: 1607495875.59 epoch sec; seqNo:677 2020-12-09T06:37:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.78 , 49.19 , 44.29 , 41.02 2020-12-09T06:37:55Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , 0.09 , 0.17 2020-12-09T06:37:55Z- waiting for 1607495875.33, time is 1607495875.59 2020-12-09T06:37:55Z- sync is 0.05, coherence is 2.00 2020-12-09T06:37:55Z- LcmTrn::updateTrn() >>>> pose time 1607495875.54, meas time 1607495875.59 <<<< 2020-12-09T06:37:55Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495875.59 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:37:55Z- TerrainNav::motionUpdate() - currEstimate = (4061662, 594281.98, 49.70) 2020-12-09T06:37:55Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:37:55Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:37:55Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:37:55Z- TNavBF::mmse selected from filter -1 2020-12-09T06:37:55Z- variances([0], [2], and psi_berg) = 795.280611 833.093162 0.000000 2020-12-09T06:37:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:37:55Z- LcmTrn::cycle() - MLE : 4061633.61 594235.48 49.70 2020-12-09T06:37:55Z- LcmTrn::cycle() - MMSE : 4061662.11 594281.98 49.70 2020-12-09T06:37:55Z- LcmTrn::cycle() - COVAR: 795.28 833.09 47.98 0.00 2020-12-09T06:37:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495875.61 epoch sec; seqNo:1228; 4061662.09 north; 594280.76 east 2020-12-09T06:37:55Z- waiting for 1607495878.59, time is 1607495875.59 2020-12-09T06:37:55Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:55Z- AHRS_M2 msg: 1607495875.94 epoch sec; seqNo:1187 2020-12-09T06:37:55Z- AHRS_M2 msg: 4.63 phi; 0.01 theta; -0.21 psi 2020-12-09T06:37:55Z- waiting for 1607495878.59, time is 1607495875.59 2020-12-09T06:37:55Z- sync is 0.35, coherence is 2.00 2020-12-09T06:37:55Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1607495875966; depth 0.00 2020-12-09T06:37:55Z- waiting for 1607495878.59, time is 1607495875.59 2020-12-09T06:37:55Z- sync is 0.35, coherence is 2.00 2020-12-09T06:37:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495875.98 epoch sec; seqNo:1229; 4061662.09 north; 594280.76 east 2020-12-09T06:37:55Z- waiting for 1607495878.59, time is 1607495875.59 2020-12-09T06:37:55Z- sync is 0.39, coherence is 2.00 2020-12-09T06:37:56Z- AHRS_M2 msg: 1607495876.35 epoch sec; seqNo:1188 2020-12-09T06:37:56Z- AHRS_M2 msg: 4.63 phi; 0.01 theta; -0.21 psi 2020-12-09T06:37:56Z- waiting for 1607495878.59, time is 1607495875.59 2020-12-09T06:37:56Z- sync is 0.76, coherence is 2.00 2020-12-09T06:37:56Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1607495876354; depth 0.00 2020-12-09T06:37:56Z- waiting for 1607495878.59, time is 1607495875.59 2020-12-09T06:37:56Z- sync is 0.76, coherence is 2.00 2020-12-09T06:37:56Z- handleDvl() - RDI_Pathfinder msg: 1607495876.37 epoch sec; seqNo:678 2020-12-09T06:37:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.19 , 49.19 , 44.49 , 41.43 2020-12-09T06:37:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.09 , 0.21 2020-12-09T06:37:56Z- waiting for 1607495878.59, time is 1607495876.37 2020-12-09T06:37:56Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495876.39 epoch sec; seqNo:1230; 4061662.09 north; 594280.76 east 2020-12-09T06:37:56Z- waiting for 1607495878.59, time is 1607495876.37 2020-12-09T06:37:56Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:56Z- AHRS_M2 msg: 1607495876.75 epoch sec; seqNo:1189 2020-12-09T06:37:56Z- AHRS_M2 msg: 4.63 phi; 0.01 theta; -0.21 psi 2020-12-09T06:37:56Z- waiting for 1607495878.59, time is 1607495876.37 2020-12-09T06:37:56Z- sync is 0.39, coherence is 2.00 2020-12-09T06:37:56Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1607495876758; depth 0.00 2020-12-09T06:37:56Z- waiting for 1607495878.59, time is 1607495876.37 2020-12-09T06:37:56Z- sync is 0.39, coherence is 2.00 2020-12-09T06:37:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495876.77 epoch sec; seqNo:1231; 4061662.08 north; 594279.54 east 2020-12-09T06:37:56Z- waiting for 1607495878.59, time is 1607495876.37 2020-12-09T06:37:56Z- sync is 0.40, coherence is 2.00 2020-12-09T06:37:57Z- AHRS_M2 msg: 1607495877.16 epoch sec; seqNo:1190 2020-12-09T06:37:57Z- AHRS_M2 msg: 4.63 phi; 0.01 theta; -0.21 psi 2020-12-09T06:37:57Z- waiting for 1607495878.59, time is 1607495876.37 2020-12-09T06:37:57Z- sync is 0.79, coherence is 2.00 2020-12-09T06:37:57Z- handleDepth()-Depth_Keller msg: 49.87 epoch sec; seqNo:1607495877164; depth 0.00 2020-12-09T06:37:57Z- waiting for 1607495878.59, time is 1607495876.37 2020-12-09T06:37:57Z- sync is 0.79, coherence is 2.00 2020-12-09T06:37:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495877.17 epoch sec; seqNo:1232; 4061662.08 north; 594279.54 east 2020-12-09T06:37:57Z- waiting for 1607495878.59, time is 1607495876.37 2020-12-09T06:37:57Z- sync is 0.81, coherence is 2.00 2020-12-09T06:37:57Z- AHRS_M2 msg: 1607495877.56 epoch sec; seqNo:1191 2020-12-09T06:37:57Z- AHRS_M2 msg: 4.63 phi; 0.01 theta; -0.21 psi 2020-12-09T06:37:57Z- waiting for 1607495878.59, time is 1607495876.37 2020-12-09T06:37:57Z- sync is 1.20, coherence is 2.00 2020-12-09T06:37:57Z- handleDepth()-Depth_Keller msg: 49.91 epoch sec; seqNo:1607495877574; depth 0.00 2020-12-09T06:37:57Z- waiting for 1607495878.59, time is 1607495876.37 2020-12-09T06:37:57Z- sync is 1.20, coherence is 2.00 2020-12-09T06:37:57Z- handleDvl() - RDI_Pathfinder msg: 1607495877.59 epoch sec; seqNo:679 2020-12-09T06:37:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.39 , 49.59 , 44.70 , 41.43 2020-12-09T06:37:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , 0.07 , 0.21 2020-12-09T06:37:57Z- waiting for 1607495878.59, time is 1607495877.59 2020-12-09T06:37:57Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495877.60 epoch sec; seqNo:1233; 4061662.08 north; 594279.54 east 2020-12-09T06:37:57Z- waiting for 1607495878.59, time is 1607495877.59 2020-12-09T06:37:57Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:57Z- handleDepth()-Depth_Keller msg: 49.95 epoch sec; seqNo:1607495877990; depth 0.00 2020-12-09T06:37:57Z- waiting for 1607495878.59, time is 1607495877.59 2020-12-09T06:37:57Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495878.00 epoch sec; seqNo:1234; 4061662.07 north; 594278.32 east 2020-12-09T06:37:57Z- waiting for 1607495878.59, time is 1607495877.59 2020-12-09T06:37:57Z- sync is 0.42, coherence is 2.00 2020-12-09T06:37:58Z- AHRS_M2 msg: 1607495878.37 epoch sec; seqNo:1192 2020-12-09T06:37:58Z- AHRS_M2 msg: 4.64 phi; 0.01 theta; -0.21 psi 2020-12-09T06:37:58Z- waiting for 1607495878.59, time is 1607495877.59 2020-12-09T06:37:58Z- sync is 0.78, coherence is 2.00 2020-12-09T06:37:58Z- handleDepth()-Depth_Keller msg: 49.98 epoch sec; seqNo:1607495878375; depth 0.00 2020-12-09T06:37:58Z- waiting for 1607495878.59, time is 1607495877.59 2020-12-09T06:37:58Z- sync is 0.78, coherence is 2.00 2020-12-09T06:37:58Z- handleDvl() - RDI_Pathfinder msg: 1607495878.39 epoch sec; seqNo:680 2020-12-09T06:37:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.59 , 49.59 , 44.90 , 41.84 2020-12-09T06:37:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.70 , 0.05 , 0.16 2020-12-09T06:37:58Z- waiting for 1607495878.59, time is 1607495878.39 2020-12-09T06:37:58Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495878.41 epoch sec; seqNo:1235; 4061662.07 north; 594278.32 east 2020-12-09T06:37:58Z- waiting for 1607495878.59, time is 1607495878.39 2020-12-09T06:37:58Z- sync is 0.03, coherence is 2.00 2020-12-09T06:37:58Z- AHRS_M2 msg: 1607495878.77 epoch sec; seqNo:1193 2020-12-09T06:37:58Z- AHRS_M2 msg: 4.64 phi; 0.01 theta; -0.20 psi 2020-12-09T06:37:58Z- waiting for 1607495878.59, time is 1607495878.39 2020-12-09T06:37:58Z- sync is 0.39, coherence is 2.00 2020-12-09T06:37:58Z- handleDepth()-Depth_Keller msg: 50.00 epoch sec; seqNo:1607495878786; depth 0.00 2020-12-09T06:37:58Z- waiting for 1607495878.59, time is 1607495878.39 2020-12-09T06:37:58Z- sync is 0.39, coherence is 2.00 2020-12-09T06:37:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:58Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:37:58Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:37:58Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:37:58Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:37:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:37:58Z- handleDvl() - RDI_Pathfinder msg: 1607495878.79 epoch sec; seqNo:681 2020-12-09T06:37:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:37:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.70 , 0.05 , 0.16 2020-12-09T06:37:58Z- waiting for 1607495878.59, time is 1607495878.79 2020-12-09T06:37:58Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:58Z- LcmTrn::updateTrn() >>>> pose time 1607495878.77, meas time 1607495878.79 <<<< 2020-12-09T06:37:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495878.79, ping # 0. 2020-12-09T06:37:58Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495878.79 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:37:58Z- TerrainNav::motionUpdate() - currEstimate = (4061662, 594278.32, 50.00) 2020-12-09T06:37:58Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:37:58Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:37:58Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:37:58Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:37:58Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:37:58Z- TNavBF::mmse selected from filter -1 2020-12-09T06:37:58Z- variances([0], [2], and psi_berg) = 795.085777 833.092784 0.000000 2020-12-09T06:37:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:37:58Z- LcmTrn::cycle() - MLE : 4061633.57 594231.82 50.00 2020-12-09T06:37:58Z- LcmTrn::cycle() - MMSE : 4061662.07 594278.32 50.00 2020-12-09T06:37:58Z- LcmTrn::cycle() - COVAR: 795.09 833.09 48.16 0.00 2020-12-09T06:37:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495878.80 epoch sec; seqNo:1236; 4061662.07 north; 594278.32 east 2020-12-09T06:37:58Z- waiting for 1607495881.79, time is 1607495878.79 2020-12-09T06:37:58Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:59Z- AHRS_M2 msg: 1607495879.18 epoch sec; seqNo:1194 2020-12-09T06:37:59Z- AHRS_M2 msg: 4.65 phi; 0.01 theta; -0.20 psi 2020-12-09T06:37:59Z- waiting for 1607495881.79, time is 1607495878.79 2020-12-09T06:37:59Z- sync is 0.39, coherence is 2.00 2020-12-09T06:37:59Z- handleDepth()-Depth_Keller msg: 50.03 epoch sec; seqNo:1607495879188; depth 0.00 2020-12-09T06:37:59Z- waiting for 1607495881.79, time is 1607495878.79 2020-12-09T06:37:59Z- sync is 0.39, coherence is 2.00 2020-12-09T06:37:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495879.20 epoch sec; seqNo:1237; 4061662.45 north; 594278.32 east 2020-12-09T06:37:59Z- waiting for 1607495881.79, time is 1607495878.79 2020-12-09T06:37:59Z- sync is 0.41, coherence is 2.00 2020-12-09T06:37:59Z- AHRS_M2 msg: 1607495879.58 epoch sec; seqNo:1195 2020-12-09T06:37:59Z- AHRS_M2 msg: 4.65 phi; 0.01 theta; -0.20 psi 2020-12-09T06:37:59Z- waiting for 1607495881.79, time is 1607495878.79 2020-12-09T06:37:59Z- sync is 0.79, coherence is 2.00 2020-12-09T06:37:59Z- handleDepth()-Depth_Keller msg: 50.04 epoch sec; seqNo:1607495879586; depth 0.00 2020-12-09T06:37:59Z- waiting for 1607495881.79, time is 1607495878.79 2020-12-09T06:37:59Z- sync is 0.79, coherence is 2.00 2020-12-09T06:37:59Z- handleDvl() - RDI_Pathfinder msg: 1607495879.61 epoch sec; seqNo:682 2020-12-09T06:37:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.80 , 49.80 , 45.10 , 41.84 2020-12-09T06:37:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.62 , 0.03 , 0.09 2020-12-09T06:37:59Z- waiting for 1607495881.79, time is 1607495879.61 2020-12-09T06:37:59Z- sync is 0.02, coherence is 2.00 2020-12-09T06:37:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495879.62 epoch sec; seqNo:1238; 4061662.45 north; 594278.32 east 2020-12-09T06:37:59Z- waiting for 1607495881.79, time is 1607495879.61 2020-12-09T06:37:59Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:59Z- AHRS_M2 msg: 1607495879.99 epoch sec; seqNo:1196 2020-12-09T06:37:59Z- AHRS_M2 msg: 4.66 phi; 0.01 theta; -0.20 psi 2020-12-09T06:37:59Z- waiting for 1607495881.79, time is 1607495879.61 2020-12-09T06:37:59Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:59Z- handleDepth()-Depth_Keller msg: 50.05 epoch sec; seqNo:1607495879990; depth 0.00 2020-12-09T06:37:59Z- waiting for 1607495881.79, time is 1607495879.61 2020-12-09T06:37:59Z- sync is 0.38, coherence is 2.00 2020-12-09T06:37:59Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:59Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:59Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:37:59Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:37:59Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:37:59Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:37:59Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:37:59Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:37:59Z- handleDvl() - RDI_Pathfinder msg: 1607495879.99 epoch sec; seqNo:683 2020-12-09T06:37:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:37:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.62 , 0.03 , 0.09 2020-12-09T06:37:59Z- waiting for 1607495881.79, time is 1607495879.99 2020-12-09T06:37:59Z- sync is 0.01, coherence is 2.00 2020-12-09T06:37:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495880.01 epoch sec; seqNo:1239; 4061662.43 north; 594277.10 east 2020-12-09T06:37:59Z- waiting for 1607495881.79, time is 1607495879.99 2020-12-09T06:37:59Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:00Z- AHRS_M2 msg: 1607495880.39 epoch sec; seqNo:1197 2020-12-09T06:38:00Z- AHRS_M2 msg: 4.67 phi; 0.01 theta; -0.20 psi 2020-12-09T06:38:00Z- waiting for 1607495881.79, time is 1607495879.99 2020-12-09T06:38:00Z- sync is 0.40, coherence is 2.00 2020-12-09T06:38:00Z- handleDepth()-Depth_Keller msg: 50.06 epoch sec; seqNo:1607495880398; depth 0.00 2020-12-09T06:38:00Z- waiting for 1607495881.79, time is 1607495879.99 2020-12-09T06:38:00Z- sync is 0.40, coherence is 2.00 2020-12-09T06:38:00Z- handleDvl() - RDI_Pathfinder msg: 1607495880.41 epoch sec; seqNo:684 2020-12-09T06:38:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.00 , 49.59 , 44.90 , 42.25 2020-12-09T06:38:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.59 , 0.01 , 0.00 2020-12-09T06:38:00Z- waiting for 1607495881.79, time is 1607495880.41 2020-12-09T06:38:00Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495880.42 epoch sec; seqNo:1240; 4061662.43 north; 594277.10 east 2020-12-09T06:38:00Z- waiting for 1607495881.79, time is 1607495880.41 2020-12-09T06:38:00Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:00Z- AHRS_M2 msg: 1607495880.79 epoch sec; seqNo:1198 2020-12-09T06:38:00Z- AHRS_M2 msg: 4.67 phi; 0.01 theta; -0.20 psi 2020-12-09T06:38:00Z- waiting for 1607495881.79, time is 1607495880.41 2020-12-09T06:38:00Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:00Z- handleDepth()-Depth_Keller msg: 50.05 epoch sec; seqNo:1607495880810; depth 0.00 2020-12-09T06:38:00Z- waiting for 1607495881.79, time is 1607495880.41 2020-12-09T06:38:00Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495880.82 epoch sec; seqNo:1241; 4061662.43 north; 594277.10 east 2020-12-09T06:38:00Z- waiting for 1607495881.79, time is 1607495880.41 2020-12-09T06:38:00Z- sync is 0.41, coherence is 2.00 2020-12-09T06:38:01Z- AHRS_M2 msg: 1607495881.20 epoch sec; seqNo:1199 2020-12-09T06:38:01Z- AHRS_M2 msg: 4.68 phi; 0.01 theta; -0.20 psi 2020-12-09T06:38:01Z- waiting for 1607495881.79, time is 1607495880.41 2020-12-09T06:38:01Z- sync is 0.79, coherence is 2.00 2020-12-09T06:38:01Z- handleDepth()-Depth_Keller msg: 50.03 epoch sec; seqNo:1607495881207; depth 0.00 2020-12-09T06:38:01Z- waiting for 1607495881.79, time is 1607495880.41 2020-12-09T06:38:01Z- sync is 0.79, coherence is 2.00 2020-12-09T06:38:01Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:01Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:01Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:01Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:38:01Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:38:01Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:38:01Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:38:01Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:38:01Z- handleDvl() - RDI_Pathfinder msg: 1607495881.21 epoch sec; seqNo:685 2020-12-09T06:38:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:38:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.59 , 0.01 , 0.00 2020-12-09T06:38:01Z- waiting for 1607495881.79, time is 1607495881.21 2020-12-09T06:38:01Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495881.24 epoch sec; seqNo:1242; 4061662.05 north; 594277.10 east 2020-12-09T06:38:01Z- waiting for 1607495881.79, time is 1607495881.21 2020-12-09T06:38:01Z- sync is 0.03, coherence is 2.00 2020-12-09T06:38:01Z- AHRS_M2 msg: 1607495881.60 epoch sec; seqNo:1200 2020-12-09T06:38:01Z- AHRS_M2 msg: 4.69 phi; 0.02 theta; -0.20 psi 2020-12-09T06:38:01Z- waiting for 1607495881.79, time is 1607495881.21 2020-12-09T06:38:01Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:01Z- handleDepth()-Depth_Keller msg: 50.02 epoch sec; seqNo:1607495881608; depth 0.00 2020-12-09T06:38:01Z- waiting for 1607495881.79, time is 1607495881.21 2020-12-09T06:38:01Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:01Z- handleDvl() - RDI_Pathfinder msg: 1607495881.62 epoch sec; seqNo:686 2020-12-09T06:38:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.00 , 49.59 , 44.70 , 42.25 2020-12-09T06:38:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.64 , -0.00 , -0.08 2020-12-09T06:38:01Z- waiting for 1607495881.79, time is 1607495881.62 2020-12-09T06:38:01Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495881.65 epoch sec; seqNo:1243; 4061662.04 north; 594275.88 east 2020-12-09T06:38:01Z- waiting for 1607495881.79, time is 1607495881.62 2020-12-09T06:38:01Z- sync is 0.03, coherence is 2.00 2020-12-09T06:38:01Z- handleDepth()-Depth_Keller msg: 49.99 epoch sec; seqNo:1607495882022; depth 0.00 2020-12-09T06:38:01Z- waiting for 1607495881.79, time is 1607495881.62 2020-12-09T06:38:01Z- sync is 0.03, coherence is 2.00 2020-12-09T06:38:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495882.04 epoch sec; seqNo:1244; 4061662.04 north; 594275.88 east 2020-12-09T06:38:02Z- waiting for 1607495881.79, time is 1607495881.62 2020-12-09T06:38:02Z- sync is 0.42, coherence is 2.00 2020-12-09T06:38:02Z- AHRS_M2 msg: 1607495882.41 epoch sec; seqNo:1201 2020-12-09T06:38:02Z- AHRS_M2 msg: 4.70 phi; 0.02 theta; -0.20 psi 2020-12-09T06:38:02Z- waiting for 1607495881.79, time is 1607495881.62 2020-12-09T06:38:02Z- sync is 0.79, coherence is 2.00 2020-12-09T06:38:02Z- handleDepth()-Depth_Keller msg: 49.96 epoch sec; seqNo:1607495882420; depth 0.00 2020-12-09T06:38:02Z- waiting for 1607495881.79, time is 1607495881.62 2020-12-09T06:38:02Z- sync is 0.79, coherence is 2.00 2020-12-09T06:38:02Z- handleDvl() - RDI_Pathfinder msg: 1607495882.44 epoch sec; seqNo:687 2020-12-09T06:38:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.00 , 49.39 , 44.49 , 42.25 2020-12-09T06:38:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , 0.00 , -0.15 2020-12-09T06:38:02Z- waiting for 1607495881.79, time is 1607495882.44 2020-12-09T06:38:02Z- sync is 0.03, coherence is 2.00 2020-12-09T06:38:02Z- LcmTrn::updateTrn() >>>> pose time 1607495882.41, meas time 1607495882.44 <<<< 2020-12-09T06:38:02Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495882.44 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:38:02Z- TerrainNav::motionUpdate() - currEstimate = (4061662, 594275.88, 49.96) 2020-12-09T06:38:02Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:38:02Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:38:02Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:38:02Z- TNavBF::mmse selected from filter -1 2020-12-09T06:38:02Z- variances([0], [2], and psi_berg) = 794.927345 833.092479 0.000000 2020-12-09T06:38:02Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:38:02Z- LcmTrn::cycle() - MLE : 4061633.54 594229.38 49.96 2020-12-09T06:38:02Z- LcmTrn::cycle() - MMSE : 4061662.04 594275.88 49.96 2020-12-09T06:38:02Z- LcmTrn::cycle() - COVAR: 794.93 833.09 48.29 0.00 2020-12-09T06:38:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495882.45 epoch sec; seqNo:1245; 4061662.04 north; 594275.88 east 2020-12-09T06:38:02Z- waiting for 1607495885.44, time is 1607495882.44 2020-12-09T06:38:02Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:02Z- AHRS_M2 msg: 1607495882.82 epoch sec; seqNo:1202 2020-12-09T06:38:02Z- AHRS_M2 msg: 4.70 phi; 0.02 theta; -0.20 psi 2020-12-09T06:38:02Z- waiting for 1607495885.44, time is 1607495882.44 2020-12-09T06:38:02Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:02Z- handleDepth()-Depth_Keller msg: 49.92 epoch sec; seqNo:1607495882821; depth 0.00 2020-12-09T06:38:02Z- waiting for 1607495885.44, time is 1607495882.44 2020-12-09T06:38:02Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495882.85 epoch sec; seqNo:1246; 4061662.04 north; 594275.88 east 2020-12-09T06:38:02Z- waiting for 1607495885.44, time is 1607495882.44 2020-12-09T06:38:02Z- sync is 0.41, coherence is 2.00 2020-12-09T06:38:03Z- AHRS_M2 msg: 1607495883.22 epoch sec; seqNo:1203 2020-12-09T06:38:03Z- AHRS_M2 msg: 4.70 phi; 0.02 theta; -0.20 psi 2020-12-09T06:38:03Z- waiting for 1607495885.44, time is 1607495882.44 2020-12-09T06:38:03Z- sync is 0.78, coherence is 2.00 2020-12-09T06:38:03Z- handleDepth()-Depth_Keller msg: 49.90 epoch sec; seqNo:1607495883226; depth 0.00 2020-12-09T06:38:03Z- waiting for 1607495885.44, time is 1607495882.44 2020-12-09T06:38:03Z- sync is 0.78, coherence is 2.00 2020-12-09T06:38:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495883.27 epoch sec; seqNo:1247; 4061662.04 north; 594275.88 east 2020-12-09T06:38:03Z- waiting for 1607495885.44, time is 1607495882.44 2020-12-09T06:38:03Z- sync is 0.83, coherence is 2.00 2020-12-09T06:38:03Z- AHRS_M2 msg: 1607495883.63 epoch sec; seqNo:1204 2020-12-09T06:38:03Z- AHRS_M2 msg: 4.71 phi; 0.02 theta; -0.20 psi 2020-12-09T06:38:03Z- waiting for 1607495885.44, time is 1607495882.44 2020-12-09T06:38:03Z- sync is 1.19, coherence is 2.00 2020-12-09T06:38:03Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1607495883631; depth 0.00 2020-12-09T06:38:03Z- waiting for 1607495885.44, time is 1607495882.44 2020-12-09T06:38:03Z- sync is 1.19, coherence is 2.00 2020-12-09T06:38:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495883.65 epoch sec; seqNo:1248; 4061662.03 north; 594274.66 east 2020-12-09T06:38:03Z- waiting for 1607495885.44, time is 1607495882.44 2020-12-09T06:38:03Z- sync is 1.21, coherence is 2.00 2020-12-09T06:38:03Z- AHRS_M2 msg: 1607495884.03 epoch sec; seqNo:1205 2020-12-09T06:38:03Z- AHRS_M2 msg: 4.71 phi; 0.02 theta; -0.21 psi 2020-12-09T06:38:03Z- waiting for 1607495885.44, time is 1607495882.44 2020-12-09T06:38:03Z- sync is 1.59, coherence is 2.00 2020-12-09T06:38:03Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1607495884038; depth 0.00 2020-12-09T06:38:03Z- waiting for 1607495885.44, time is 1607495882.44 2020-12-09T06:38:03Z- sync is 1.59, coherence is 2.00 2020-12-09T06:38:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495884.05 epoch sec; seqNo:1249; 4061662.03 north; 594274.66 east 2020-12-09T06:38:04Z- waiting for 1607495885.44, time is 1607495882.44 2020-12-09T06:38:04Z- sync is 1.61, coherence is 2.00 2020-12-09T06:38:04Z- AHRS_M2 msg: 1607495884.43 epoch sec; seqNo:1206 2020-12-09T06:38:04Z- AHRS_M2 msg: 4.71 phi; 0.02 theta; -0.21 psi 2020-12-09T06:38:04Z- waiting for 1607495885.44, time is 1607495882.44 2020-12-09T06:38:04Z- sync is 1.99, coherence is 2.00 2020-12-09T06:38:04Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1607495884442; depth 0.00 2020-12-09T06:38:04Z- waiting for 1607495885.44, time is 1607495882.44 2020-12-09T06:38:04Z- sync is 1.99, coherence is 2.00 2020-12-09T06:38:04Z- handleDvl() - RDI_Pathfinder msg: 1607495884.46 epoch sec; seqNo:688 2020-12-09T06:38:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.19 , 49.59 , 44.29 , 42.25 2020-12-09T06:38:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , 0.01 , -0.19 2020-12-09T06:38:04Z- waiting for 1607495885.44, time is 1607495884.46 2020-12-09T06:38:04Z- sync is 0.03, coherence is 2.00 2020-12-09T06:38:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495884.47 epoch sec; seqNo:1250; 4061662.03 north; 594274.66 east 2020-12-09T06:38:04Z- waiting for 1607495885.44, time is 1607495884.46 2020-12-09T06:38:04Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:04Z- AHRS_M2 msg: 1607495884.83 epoch sec; seqNo:1207 2020-12-09T06:38:04Z- AHRS_M2 msg: 4.71 phi; 0.02 theta; -0.21 psi 2020-12-09T06:38:04Z- waiting for 1607495885.44, time is 1607495884.46 2020-12-09T06:38:04Z- sync is 0.37, coherence is 2.00 2020-12-09T06:38:04Z- handleDepth()-Depth_Keller msg: 49.72 epoch sec; seqNo:1607495884839; depth 0.00 2020-12-09T06:38:04Z- waiting for 1607495885.44, time is 1607495884.46 2020-12-09T06:38:04Z- sync is 0.37, coherence is 2.00 2020-12-09T06:38:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495884.85 epoch sec; seqNo:1251; 4061662.01 north; 594273.44 east 2020-12-09T06:38:04Z- waiting for 1607495885.44, time is 1607495884.46 2020-12-09T06:38:04Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:05Z- AHRS_M2 msg: 1607495885.27 epoch sec; seqNo:1208 2020-12-09T06:38:05Z- AHRS_M2 msg: 4.71 phi; 0.02 theta; -0.21 psi 2020-12-09T06:38:05Z- waiting for 1607495885.44, time is 1607495884.46 2020-12-09T06:38:05Z- sync is 0.81, coherence is 2.00 2020-12-09T06:38:05Z- handleDepth()-Depth_Keller msg: 49.67 epoch sec; seqNo:1607495885285; depth 0.00 2020-12-09T06:38:05Z- waiting for 1607495885.44, time is 1607495884.46 2020-12-09T06:38:05Z- sync is 0.81, coherence is 2.00 2020-12-09T06:38:05Z- handleDvl() - RDI_Pathfinder msg: 1607495885.30 epoch sec; seqNo:689 2020-12-09T06:38:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.39 , 49.59 , 44.08 , 42.04 2020-12-09T06:38:05Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , 0.02 , -0.17 2020-12-09T06:38:05Z- waiting for 1607495885.44, time is 1607495885.30 2020-12-09T06:38:05Z- sync is 0.03, coherence is 2.00 2020-12-09T06:38:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495885.32 epoch sec; seqNo:1252; 4061662.01 north; 594273.44 east 2020-12-09T06:38:05Z- waiting for 1607495885.44, time is 1607495885.30 2020-12-09T06:38:05Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:05Z- AHRS_M2 msg: 1607495885.64 epoch sec; seqNo:1209 2020-12-09T06:38:05Z- AHRS_M2 msg: 4.71 phi; 0.02 theta; -0.21 psi 2020-12-09T06:38:05Z- waiting for 1607495885.44, time is 1607495885.30 2020-12-09T06:38:05Z- sync is 0.34, coherence is 2.00 2020-12-09T06:38:05Z- handleDepth()-Depth_Keller msg: 49.63 epoch sec; seqNo:1607495885649; depth 0.00 2020-12-09T06:38:05Z- waiting for 1607495885.44, time is 1607495885.30 2020-12-09T06:38:05Z- sync is 0.34, coherence is 2.00 2020-12-09T06:38:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495885.66 epoch sec; seqNo:1253; 4061662.01 north; 594273.44 east 2020-12-09T06:38:05Z- waiting for 1607495885.44, time is 1607495885.30 2020-12-09T06:38:05Z- sync is 0.36, coherence is 2.00 2020-12-09T06:38:06Z- AHRS_M2 msg: 1607495886.04 epoch sec; seqNo:1210 2020-12-09T06:38:06Z- AHRS_M2 msg: 4.70 phi; 0.02 theta; -0.21 psi 2020-12-09T06:38:06Z- waiting for 1607495885.44, time is 1607495885.30 2020-12-09T06:38:06Z- sync is 0.74, coherence is 2.00 2020-12-09T06:38:06Z- handleDepth()-Depth_Keller msg: 49.58 epoch sec; seqNo:1607495886054; depth 0.00 2020-12-09T06:38:06Z- waiting for 1607495885.44, time is 1607495885.30 2020-12-09T06:38:06Z- sync is 0.74, coherence is 2.00 2020-12-09T06:38:06Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:06Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:06Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:06Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:38:06Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:38:06Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:38:06Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:38:06Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:38:06Z- handleDvl() - RDI_Pathfinder msg: 1607495886.06 epoch sec; seqNo:690 2020-12-09T06:38:06Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:38:06Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , 0.02 , -0.17 2020-12-09T06:38:06Z- waiting for 1607495885.44, time is 1607495886.06 2020-12-09T06:38:06Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:06Z- LcmTrn::updateTrn() >>>> pose time 1607495886.04, meas time 1607495886.06 <<<< 2020-12-09T06:38:06Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495886.06, ping # 0. 2020-12-09T06:38:06Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495886.06 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:38:06Z- TerrainNav::motionUpdate() - currEstimate = (4061662, 594273.44, 49.58) 2020-12-09T06:38:06Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:38:06Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:38:06Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:38:06Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:38:06Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:38:06Z- TNavBF::mmse selected from filter -1 2020-12-09T06:38:06Z- variances([0], [2], and psi_berg) = 794.769434 833.092175 0.000000 2020-12-09T06:38:06Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:38:06Z- LcmTrn::cycle() - MLE : 4061633.51 594226.94 49.58 2020-12-09T06:38:06Z- LcmTrn::cycle() - MMSE : 4061662.01 594273.44 49.58 2020-12-09T06:38:06Z- LcmTrn::cycle() - COVAR: 794.77 833.09 48.41 0.00 2020-12-09T06:38:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495886.08 epoch sec; seqNo:1254; 4061662.00 north; 594272.22 east 2020-12-09T06:38:06Z- waiting for 1607495889.06, time is 1607495886.06 2020-12-09T06:38:06Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:06Z- AHRS_M2 msg: 1607495886.45 epoch sec; seqNo:1211 2020-12-09T06:38:06Z- AHRS_M2 msg: 4.70 phi; 0.02 theta; -0.21 psi 2020-12-09T06:38:06Z- waiting for 1607495889.06, time is 1607495886.06 2020-12-09T06:38:06Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:06Z- handleDepth()-Depth_Keller msg: 49.55 epoch sec; seqNo:1607495886461; depth 0.00 2020-12-09T06:38:06Z- waiting for 1607495889.06, time is 1607495886.06 2020-12-09T06:38:06Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:06Z- handleDvl() - RDI_Pathfinder msg: 1607495886.49 epoch sec; seqNo:691 2020-12-09T06:38:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.19 , 49.59 , 43.88 , 42.04 2020-12-09T06:38:06Z- handleDvl() - RDI_Pathfinder msg: velocities 1.12 , 0.06 , -0.14 2020-12-09T06:38:06Z- waiting for 1607495889.06, time is 1607495886.49 2020-12-09T06:38:06Z- sync is 0.04, coherence is 2.00 2020-12-09T06:38:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495886.50 epoch sec; seqNo:1255; 4061662.00 north; 594272.22 east 2020-12-09T06:38:06Z- waiting for 1607495889.06, time is 1607495886.49 2020-12-09T06:38:06Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:06Z- AHRS_M2 msg: 1607495886.85 epoch sec; seqNo:1212 2020-12-09T06:38:06Z- AHRS_M2 msg: 4.70 phi; 0.01 theta; -0.21 psi 2020-12-09T06:38:06Z- waiting for 1607495889.06, time is 1607495886.49 2020-12-09T06:38:06Z- sync is 0.37, coherence is 2.00 2020-12-09T06:38:06Z- handleDepth()-Depth_Keller msg: 49.52 epoch sec; seqNo:1607495886864; depth 0.00 2020-12-09T06:38:06Z- waiting for 1607495889.06, time is 1607495886.49 2020-12-09T06:38:06Z- sync is 0.37, coherence is 2.00 2020-12-09T06:38:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495886.88 epoch sec; seqNo:1256; 4061662.00 north; 594272.22 east 2020-12-09T06:38:06Z- waiting for 1607495889.06, time is 1607495886.49 2020-12-09T06:38:06Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:07Z- AHRS_M2 msg: 1607495887.28 epoch sec; seqNo:1213 2020-12-09T06:38:07Z- AHRS_M2 msg: 4.69 phi; 0.01 theta; -0.22 psi 2020-12-09T06:38:07Z- waiting for 1607495889.06, time is 1607495886.49 2020-12-09T06:38:07Z- sync is 0.79, coherence is 2.00 2020-12-09T06:38:07Z- handleDepth()-Depth_Keller msg: 49.50 epoch sec; seqNo:1607495887290; depth 0.00 2020-12-09T06:38:07Z- waiting for 1607495889.06, time is 1607495886.49 2020-12-09T06:38:07Z- sync is 0.79, coherence is 2.00 2020-12-09T06:38:07Z- handleDvl() - RDI_Pathfinder msg: 1607495887.31 epoch sec; seqNo:692 2020-12-09T06:38:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.98 , 49.80 , 44.08 , 41.84 2020-12-09T06:38:07Z- handleDvl() - RDI_Pathfinder msg: velocities 1.18 , 0.09 , -0.11 2020-12-09T06:38:07Z- waiting for 1607495889.06, time is 1607495887.31 2020-12-09T06:38:07Z- sync is 0.03, coherence is 2.00 2020-12-09T06:38:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495887.33 epoch sec; seqNo:1257; 4061661.99 north; 594271.00 east 2020-12-09T06:38:07Z- waiting for 1607495889.06, time is 1607495887.31 2020-12-09T06:38:07Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:07Z- AHRS_M2 msg: 1607495887.67 epoch sec; seqNo:1214 2020-12-09T06:38:07Z- AHRS_M2 msg: 4.69 phi; 0.01 theta; -0.22 psi 2020-12-09T06:38:07Z- waiting for 1607495889.06, time is 1607495887.31 2020-12-09T06:38:07Z- sync is 0.36, coherence is 2.00 2020-12-09T06:38:07Z- handleDepth()-Depth_Keller msg: 49.48 epoch sec; seqNo:1607495887755; depth 0.00 2020-12-09T06:38:07Z- waiting for 1607495889.06, time is 1607495887.31 2020-12-09T06:38:07Z- sync is 0.36, coherence is 2.00 2020-12-09T06:38:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495887.77 epoch sec; seqNo:1258; 4061661.99 north; 594271.00 east 2020-12-09T06:38:07Z- waiting for 1607495889.06, time is 1607495887.31 2020-12-09T06:38:07Z- sync is 0.46, coherence is 2.00 2020-12-09T06:38:08Z- AHRS_M2 msg: 1607495888.07 epoch sec; seqNo:1215 2020-12-09T06:38:08Z- AHRS_M2 msg: 4.69 phi; 0.01 theta; -0.22 psi 2020-12-09T06:38:08Z- waiting for 1607495889.06, time is 1607495887.31 2020-12-09T06:38:08Z- sync is 0.76, coherence is 2.00 2020-12-09T06:38:08Z- handleDepth()-Depth_Keller msg: 49.47 epoch sec; seqNo:1607495888169; depth 0.00 2020-12-09T06:38:08Z- waiting for 1607495889.06, time is 1607495887.31 2020-12-09T06:38:08Z- sync is 0.76, coherence is 2.00 2020-12-09T06:38:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495888.18 epoch sec; seqNo:1259; 4061661.97 north; 594269.78 east 2020-12-09T06:38:08Z- waiting for 1607495889.06, time is 1607495887.31 2020-12-09T06:38:08Z- sync is 0.87, coherence is 2.00 2020-12-09T06:38:08Z- AHRS_M2 msg: 1607495888.47 epoch sec; seqNo:1216 2020-12-09T06:38:08Z- AHRS_M2 msg: 4.69 phi; 0.01 theta; -0.22 psi 2020-12-09T06:38:08Z- waiting for 1607495889.06, time is 1607495887.31 2020-12-09T06:38:08Z- sync is 1.16, coherence is 2.00 2020-12-09T06:38:08Z- handleDepth()-Depth_Keller msg: 49.44 epoch sec; seqNo:1607495888521; depth 0.00 2020-12-09T06:38:08Z- waiting for 1607495889.06, time is 1607495887.31 2020-12-09T06:38:08Z- sync is 1.16, coherence is 2.00 2020-12-09T06:38:08Z- handleDvl() - RDI_Pathfinder msg: 1607495888.54 epoch sec; seqNo:693 2020-12-09T06:38:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.78 , 49.80 , 44.29 , 42.25 2020-12-09T06:38:08Z- handleDvl() - RDI_Pathfinder msg: velocities 1.17 , 0.13 , -0.07 2020-12-09T06:38:08Z- waiting for 1607495889.06, time is 1607495888.54 2020-12-09T06:38:08Z- sync is 0.07, coherence is 2.00 2020-12-09T06:38:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495888.56 epoch sec; seqNo:1260; 4061661.97 north; 594269.78 east 2020-12-09T06:38:08Z- waiting for 1607495889.06, time is 1607495888.54 2020-12-09T06:38:08Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:08Z- AHRS_M2 msg: 1607495888.87 epoch sec; seqNo:1217 2020-12-09T06:38:08Z- AHRS_M2 msg: 4.68 phi; 0.01 theta; -0.22 psi 2020-12-09T06:38:08Z- waiting for 1607495889.06, time is 1607495888.54 2020-12-09T06:38:08Z- sync is 0.33, coherence is 2.00 2020-12-09T06:38:08Z- handleDepth()-Depth_Keller msg: 49.45 epoch sec; seqNo:1607495888910; depth 0.00 2020-12-09T06:38:08Z- waiting for 1607495889.06, time is 1607495888.54 2020-12-09T06:38:08Z- sync is 0.33, coherence is 2.00 2020-12-09T06:38:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495888.92 epoch sec; seqNo:1261; 4061661.97 north; 594269.78 east 2020-12-09T06:38:08Z- waiting for 1607495889.06, time is 1607495888.54 2020-12-09T06:38:08Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:09Z- AHRS_M2 msg: 1607495889.28 epoch sec; seqNo:1218 2020-12-09T06:38:09Z- AHRS_M2 msg: 4.68 phi; 0.01 theta; -0.22 psi 2020-12-09T06:38:09Z- waiting for 1607495889.06, time is 1607495888.54 2020-12-09T06:38:09Z- sync is 0.74, coherence is 2.00 2020-12-09T06:38:09Z- handleDepth()-Depth_Keller msg: 49.44 epoch sec; seqNo:1607495889306; depth 0.00 2020-12-09T06:38:09Z- waiting for 1607495889.06, time is 1607495888.54 2020-12-09T06:38:09Z- sync is 0.74, coherence is 2.00 2020-12-09T06:38:09Z- handleDvl() - RDI_Pathfinder msg: 1607495889.33 epoch sec; seqNo:694 2020-12-09T06:38:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.78 , 49.80 , 44.08 , 42.25 2020-12-09T06:38:09Z- handleDvl() - RDI_Pathfinder msg: velocities 1.13 , 0.15 , -0.01 2020-12-09T06:38:09Z- waiting for 1607495889.06, time is 1607495889.33 2020-12-09T06:38:09Z- sync is 0.05, coherence is 2.00 2020-12-09T06:38:09Z- LcmTrn::updateTrn() >>>> pose time 1607495889.28, meas time 1607495889.33 <<<< 2020-12-09T06:38:09Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495889.33 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:38:09Z- TerrainNav::motionUpdate() - currEstimate = (4061662, 594269.78, 49.44) 2020-12-09T06:38:09Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:38:09Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:38:09Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:38:09Z- TNavBF::mmse selected from filter -1 2020-12-09T06:38:09Z- variances([0], [2], and psi_berg) = 794.576661 833.091805 0.000000 2020-12-09T06:38:09Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:38:09Z- LcmTrn::cycle() - MLE : 4061633.47 594223.28 49.44 2020-12-09T06:38:09Z- LcmTrn::cycle() - MMSE : 4061661.97 594269.78 49.44 2020-12-09T06:38:09Z- LcmTrn::cycle() - COVAR: 794.58 833.09 48.60 0.00 2020-12-09T06:38:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495889.35 epoch sec; seqNo:1262; 4061662.34 north; 594268.55 east 2020-12-09T06:38:09Z- waiting for 1607495892.33, time is 1607495889.33 2020-12-09T06:38:09Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:09Z- AHRS_M2 msg: 1607495889.69 epoch sec; seqNo:1219 2020-12-09T06:38:09Z- AHRS_M2 msg: 4.68 phi; 0.00 theta; -0.22 psi 2020-12-09T06:38:09Z- waiting for 1607495892.33, time is 1607495889.33 2020-12-09T06:38:09Z- sync is 0.36, coherence is 2.00 2020-12-09T06:38:09Z- handleDepth()-Depth_Keller msg: 49.45 epoch sec; seqNo:1607495889700; depth 0.00 2020-12-09T06:38:09Z- waiting for 1607495892.33, time is 1607495889.33 2020-12-09T06:38:09Z- sync is 0.36, coherence is 2.00 2020-12-09T06:38:09Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:09Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:09Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:09Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:38:09Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:38:09Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:38:09Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:38:09Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:38:09Z- handleDvl() - RDI_Pathfinder msg: 1607495889.70 epoch sec; seqNo:695 2020-12-09T06:38:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:38:09Z- handleDvl() - RDI_Pathfinder msg: velocities 1.13 , 0.15 , -0.01 2020-12-09T06:38:09Z- waiting for 1607495892.33, time is 1607495889.70 2020-12-09T06:38:09Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495889.71 epoch sec; seqNo:1263; 4061662.34 north; 594268.55 east 2020-12-09T06:38:09Z- waiting for 1607495892.33, time is 1607495889.70 2020-12-09T06:38:09Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:10Z- AHRS_M2 msg: 1607495890.09 epoch sec; seqNo:1220 2020-12-09T06:38:10Z- AHRS_M2 msg: 4.67 phi; 0.00 theta; -0.22 psi 2020-12-09T06:38:10Z- waiting for 1607495892.33, time is 1607495889.70 2020-12-09T06:38:10Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:10Z- handleDepth()-Depth_Keller msg: 49.48 epoch sec; seqNo:1607495890101; depth 0.00 2020-12-09T06:38:10Z- waiting for 1607495892.33, time is 1607495889.70 2020-12-09T06:38:10Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495890.11 epoch sec; seqNo:1264; 4061662.34 north; 594268.55 east 2020-12-09T06:38:10Z- waiting for 1607495892.33, time is 1607495889.70 2020-12-09T06:38:10Z- sync is 0.41, coherence is 2.00 2020-12-09T06:38:10Z- AHRS_M2 msg: 1607495890.49 epoch sec; seqNo:1221 2020-12-09T06:38:10Z- AHRS_M2 msg: 4.67 phi; -0.00 theta; -0.22 psi 2020-12-09T06:38:10Z- waiting for 1607495892.33, time is 1607495889.70 2020-12-09T06:38:10Z- sync is 0.79, coherence is 2.00 2020-12-09T06:38:10Z- handleDepth()-Depth_Keller msg: 49.50 epoch sec; seqNo:1607495890501; depth 0.00 2020-12-09T06:38:10Z- waiting for 1607495892.33, time is 1607495889.70 2020-12-09T06:38:10Z- sync is 0.79, coherence is 2.00 2020-12-09T06:38:10Z- handleDvl() - RDI_Pathfinder msg: 1607495890.52 epoch sec; seqNo:696 2020-12-09T06:38:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.98 , 49.80 , 44.29 , 42.25 2020-12-09T06:38:10Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , 0.17 , 0.04 2020-12-09T06:38:10Z- waiting for 1607495892.33, time is 1607495890.52 2020-12-09T06:38:10Z- sync is 0.03, coherence is 2.00 2020-12-09T06:38:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495890.53 epoch sec; seqNo:1265; 4061662.33 north; 594267.33 east 2020-12-09T06:38:10Z- waiting for 1607495892.33, time is 1607495890.52 2020-12-09T06:38:10Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:10Z- AHRS_M2 msg: 1607495890.89 epoch sec; seqNo:1222 2020-12-09T06:38:10Z- AHRS_M2 msg: 4.67 phi; -0.00 theta; -0.22 psi 2020-12-09T06:38:10Z- waiting for 1607495892.33, time is 1607495890.52 2020-12-09T06:38:10Z- sync is 0.37, coherence is 2.00 2020-12-09T06:38:10Z- handleDepth()-Depth_Keller msg: 49.53 epoch sec; seqNo:1607495890906; depth 0.00 2020-12-09T06:38:10Z- waiting for 1607495892.33, time is 1607495890.52 2020-12-09T06:38:10Z- sync is 0.37, coherence is 2.00 2020-12-09T06:38:10Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:10Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:10Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:10Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:38:10Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:38:10Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:38:10Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:38:10Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:38:10Z- handleDvl() - RDI_Pathfinder msg: 1607495890.91 epoch sec; seqNo:697 2020-12-09T06:38:10Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:38:10Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , 0.17 , 0.04 2020-12-09T06:38:10Z- waiting for 1607495892.33, time is 1607495890.91 2020-12-09T06:38:10Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495890.92 epoch sec; seqNo:1266; 4061662.33 north; 594267.33 east 2020-12-09T06:38:10Z- waiting for 1607495892.33, time is 1607495890.91 2020-12-09T06:38:10Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:11Z- AHRS_M2 msg: 1607495891.30 epoch sec; seqNo:1223 2020-12-09T06:38:11Z- AHRS_M2 msg: 4.66 phi; -0.01 theta; -0.22 psi 2020-12-09T06:38:11Z- waiting for 1607495892.33, time is 1607495890.91 2020-12-09T06:38:11Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:11Z- handleDepth()-Depth_Keller msg: 49.58 epoch sec; seqNo:1607495891309; depth 0.00 2020-12-09T06:38:11Z- waiting for 1607495892.33, time is 1607495890.91 2020-12-09T06:38:11Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:11Z- handleDvl() - RDI_Pathfinder msg: 1607495891.33 epoch sec; seqNo:698 2020-12-09T06:38:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.19 , 50.21 , 44.29 , 42.45 2020-12-09T06:38:11Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.15 , 0.09 2020-12-09T06:38:11Z- waiting for 1607495892.33, time is 1607495891.33 2020-12-09T06:38:11Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495891.34 epoch sec; seqNo:1267; 4061662.31 north; 594266.11 east 2020-12-09T06:38:11Z- waiting for 1607495892.33, time is 1607495891.33 2020-12-09T06:38:11Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:11Z- AHRS_M2 msg: 1607495891.70 epoch sec; seqNo:1224 2020-12-09T06:38:11Z- AHRS_M2 msg: 4.66 phi; -0.01 theta; -0.23 psi 2020-12-09T06:38:11Z- waiting for 1607495892.33, time is 1607495891.33 2020-12-09T06:38:11Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:11Z- handleDepth()-Depth_Keller msg: 49.59 epoch sec; seqNo:1607495891726; depth 0.00 2020-12-09T06:38:11Z- waiting for 1607495892.33, time is 1607495891.33 2020-12-09T06:38:11Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495891.74 epoch sec; seqNo:1268; 4061662.31 north; 594266.11 east 2020-12-09T06:38:11Z- waiting for 1607495892.33, time is 1607495891.33 2020-12-09T06:38:11Z- sync is 0.41, coherence is 2.00 2020-12-09T06:38:12Z- AHRS_M2 msg: 1607495892.11 epoch sec; seqNo:1225 2020-12-09T06:38:12Z- AHRS_M2 msg: 4.66 phi; -0.01 theta; -0.23 psi 2020-12-09T06:38:12Z- waiting for 1607495892.33, time is 1607495891.33 2020-12-09T06:38:12Z- sync is 0.78, coherence is 2.00 2020-12-09T06:38:12Z- handleDepth()-Depth_Keller msg: 49.64 epoch sec; seqNo:1607495892111; depth 0.00 2020-12-09T06:38:12Z- waiting for 1607495892.33, time is 1607495891.33 2020-12-09T06:38:12Z- sync is 0.78, coherence is 2.00 2020-12-09T06:38:12Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:12Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:12Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:12Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:38:12Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:38:12Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:38:12Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:38:12Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:38:12Z- handleDvl() - RDI_Pathfinder msg: 1607495892.11 epoch sec; seqNo:699 2020-12-09T06:38:12Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:38:12Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.15 , 0.09 2020-12-09T06:38:12Z- waiting for 1607495892.33, time is 1607495892.11 2020-12-09T06:38:12Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495892.12 epoch sec; seqNo:1269; 4061662.31 north; 594266.11 east 2020-12-09T06:38:12Z- waiting for 1607495892.33, time is 1607495892.11 2020-12-09T06:38:12Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:12Z- AHRS_M2 msg: 1607495892.52 epoch sec; seqNo:1226 2020-12-09T06:38:12Z- AHRS_M2 msg: 4.66 phi; -0.01 theta; -0.23 psi 2020-12-09T06:38:12Z- waiting for 1607495892.33, time is 1607495892.11 2020-12-09T06:38:12Z- sync is 0.40, coherence is 2.00 2020-12-09T06:38:12Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1607495892519; depth 0.00 2020-12-09T06:38:12Z- waiting for 1607495892.33, time is 1607495892.11 2020-12-09T06:38:12Z- sync is 0.40, coherence is 2.00 2020-12-09T06:38:12Z- handleDvl() - RDI_Pathfinder msg: 1607495892.53 epoch sec; seqNo:700 2020-12-09T06:38:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.19 , 50.62 , 44.49 , 42.86 2020-12-09T06:38:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , 0.14 , 0.13 2020-12-09T06:38:12Z- waiting for 1607495892.33, time is 1607495892.53 2020-12-09T06:38:12Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:12Z- LcmTrn::updateTrn() >>>> pose time 1607495892.52, meas time 1607495892.53 <<<< 2020-12-09T06:38:12Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495892.53 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:38:12Z- TerrainNav::motionUpdate() - currEstimate = (4061662, 594266.11, 49.69) 2020-12-09T06:38:12Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:38:12Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:38:12Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:38:12Z- TNavBF::mmse selected from filter -1 2020-12-09T06:38:12Z- variances([0], [2], and psi_berg) = 794.384144 833.091438 0.000000 2020-12-09T06:38:12Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:38:12Z- LcmTrn::cycle() - MLE : 4061633.81 594220.61 49.69 2020-12-09T06:38:12Z- LcmTrn::cycle() - MMSE : 4061662.31 594266.11 49.69 2020-12-09T06:38:12Z- LcmTrn::cycle() - COVAR: 794.38 833.09 48.79 0.00 2020-12-09T06:38:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495892.56 epoch sec; seqNo:1270; 4061662.69 north; 594266.11 east 2020-12-09T06:38:12Z- waiting for 1607495895.53, time is 1607495892.53 2020-12-09T06:38:12Z- sync is 0.03, coherence is 2.00 2020-12-09T06:38:12Z- AHRS_M2 msg: 1607495892.91 epoch sec; seqNo:1227 2020-12-09T06:38:12Z- AHRS_M2 msg: 4.65 phi; -0.02 theta; -0.23 psi 2020-12-09T06:38:12Z- waiting for 1607495895.53, time is 1607495892.53 2020-12-09T06:38:12Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:12Z- handleDepth()-Depth_Keller msg: 49.72 epoch sec; seqNo:1607495892926; depth 0.00 2020-12-09T06:38:12Z- waiting for 1607495895.53, time is 1607495892.53 2020-12-09T06:38:12Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495892.94 epoch sec; seqNo:1271; 4061662.68 north; 594264.89 east 2020-12-09T06:38:12Z- waiting for 1607495895.53, time is 1607495892.53 2020-12-09T06:38:12Z- sync is 0.41, coherence is 2.00 2020-12-09T06:38:13Z- AHRS_M2 msg: 1607495893.32 epoch sec; seqNo:1228 2020-12-09T06:38:13Z- AHRS_M2 msg: 4.65 phi; -0.02 theta; -0.23 psi 2020-12-09T06:38:13Z- waiting for 1607495895.53, time is 1607495892.53 2020-12-09T06:38:13Z- sync is 0.79, coherence is 2.00 2020-12-09T06:38:13Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1607495893332; depth 0.00 2020-12-09T06:38:13Z- waiting for 1607495895.53, time is 1607495892.53 2020-12-09T06:38:13Z- sync is 0.79, coherence is 2.00 2020-12-09T06:38:13Z- handleDvl() - RDI_Pathfinder msg: 1607495893.35 epoch sec; seqNo:701 2020-12-09T06:38:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.19 , 51.23 , 44.49 , 43.27 2020-12-09T06:38:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , 0.10 , 0.15 2020-12-09T06:38:13Z- waiting for 1607495895.53, time is 1607495893.35 2020-12-09T06:38:13Z- sync is 0.03, coherence is 2.00 2020-12-09T06:38:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495893.36 epoch sec; seqNo:1272; 4061662.68 north; 594264.89 east 2020-12-09T06:38:13Z- waiting for 1607495895.53, time is 1607495893.35 2020-12-09T06:38:13Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:13Z- AHRS_M2 msg: 1607495893.73 epoch sec; seqNo:1229 2020-12-09T06:38:13Z- AHRS_M2 msg: 4.65 phi; -0.02 theta; -0.24 psi 2020-12-09T06:38:13Z- waiting for 1607495895.53, time is 1607495893.35 2020-12-09T06:38:13Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:13Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1607495893739; depth 0.00 2020-12-09T06:38:13Z- waiting for 1607495895.53, time is 1607495893.35 2020-12-09T06:38:13Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495893.77 epoch sec; seqNo:1273; 4061662.68 north; 594264.89 east 2020-12-09T06:38:13Z- waiting for 1607495895.53, time is 1607495893.35 2020-12-09T06:38:13Z- sync is 0.42, coherence is 2.00 2020-12-09T06:38:14Z- AHRS_M2 msg: 1607495894.13 epoch sec; seqNo:1230 2020-12-09T06:38:14Z- AHRS_M2 msg: 4.65 phi; -0.02 theta; -0.24 psi 2020-12-09T06:38:14Z- waiting for 1607495895.53, time is 1607495893.35 2020-12-09T06:38:14Z- sync is 0.78, coherence is 2.00 2020-12-09T06:38:14Z- handleDepth()-Depth_Keller msg: 49.85 epoch sec; seqNo:1607495894130; depth 0.00 2020-12-09T06:38:14Z- waiting for 1607495895.53, time is 1607495893.35 2020-12-09T06:38:14Z- sync is 0.78, coherence is 2.00 2020-12-09T06:38:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495894.14 epoch sec; seqNo:1274; 4061662.66 north; 594263.67 east 2020-12-09T06:38:14Z- waiting for 1607495895.53, time is 1607495893.35 2020-12-09T06:38:14Z- sync is 0.79, coherence is 2.00 2020-12-09T06:38:14Z- AHRS_M2 msg: 1607495894.54 epoch sec; seqNo:1231 2020-12-09T06:38:14Z- AHRS_M2 msg: 4.65 phi; -0.02 theta; -0.24 psi 2020-12-09T06:38:14Z- waiting for 1607495895.53, time is 1607495893.35 2020-12-09T06:38:14Z- sync is 1.19, coherence is 2.00 2020-12-09T06:38:14Z- handleDepth()-Depth_Keller msg: 49.88 epoch sec; seqNo:1607495894543; depth 0.00 2020-12-09T06:38:14Z- waiting for 1607495895.53, time is 1607495893.35 2020-12-09T06:38:14Z- sync is 1.19, coherence is 2.00 2020-12-09T06:38:14Z- handleDvl() - RDI_Pathfinder msg: 1607495894.56 epoch sec; seqNo:702 2020-12-09T06:38:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.19 , 51.84 , 44.70 , 43.68 2020-12-09T06:38:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , 0.06 , 0.15 2020-12-09T06:38:14Z- waiting for 1607495895.53, time is 1607495894.56 2020-12-09T06:38:14Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495894.57 epoch sec; seqNo:1275; 4061662.66 north; 594263.67 east 2020-12-09T06:38:14Z- waiting for 1607495895.53, time is 1607495894.56 2020-12-09T06:38:14Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:14Z- AHRS_M2 msg: 1607495894.93 epoch sec; seqNo:1232 2020-12-09T06:38:14Z- AHRS_M2 msg: 4.65 phi; -0.03 theta; -0.24 psi 2020-12-09T06:38:14Z- waiting for 1607495895.53, time is 1607495894.56 2020-12-09T06:38:14Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:14Z- handleDepth()-Depth_Keller msg: 49.91 epoch sec; seqNo:1607495894938; depth 0.00 2020-12-09T06:38:14Z- waiting for 1607495895.53, time is 1607495894.56 2020-12-09T06:38:14Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495894.96 epoch sec; seqNo:1276; 4061662.66 north; 594263.67 east 2020-12-09T06:38:14Z- waiting for 1607495895.53, time is 1607495894.56 2020-12-09T06:38:14Z- sync is 0.40, coherence is 2.00 2020-12-09T06:38:15Z- AHRS_M2 msg: 1607495895.34 epoch sec; seqNo:1233 2020-12-09T06:38:15Z- AHRS_M2 msg: 4.65 phi; -0.03 theta; -0.24 psi 2020-12-09T06:38:15Z- waiting for 1607495895.53, time is 1607495894.56 2020-12-09T06:38:15Z- sync is 0.78, coherence is 2.00 2020-12-09T06:38:15Z- handleDepth()-Depth_Keller msg: 49.94 epoch sec; seqNo:1607495895342; depth 0.00 2020-12-09T06:38:15Z- waiting for 1607495895.53, time is 1607495894.56 2020-12-09T06:38:15Z- sync is 0.78, coherence is 2.00 2020-12-09T06:38:15Z- handleDvl() - RDI_Pathfinder msg: 1607495895.36 epoch sec; seqNo:703 2020-12-09T06:38:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.39 , 52.04 , 44.70 , 44.29 2020-12-09T06:38:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.69 , 0.01 , 0.11 2020-12-09T06:38:15Z- waiting for 1607495895.53, time is 1607495895.36 2020-12-09T06:38:15Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495895.38 epoch sec; seqNo:1277; 4061662.66 north; 594263.67 east 2020-12-09T06:38:15Z- waiting for 1607495895.53, time is 1607495895.36 2020-12-09T06:38:15Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:15Z- AHRS_M2 msg: 1607495895.74 epoch sec; seqNo:1234 2020-12-09T06:38:15Z- AHRS_M2 msg: 4.65 phi; -0.03 theta; -0.24 psi 2020-12-09T06:38:15Z- waiting for 1607495895.53, time is 1607495895.36 2020-12-09T06:38:15Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:15Z- handleDepth()-Depth_Keller msg: 49.97 epoch sec; seqNo:1607495895746; depth 0.00 2020-12-09T06:38:15Z- waiting for 1607495895.53, time is 1607495895.36 2020-12-09T06:38:15Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:15Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:15Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:15Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:15Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:38:15Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:38:15Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:38:15Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:38:15Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:38:15Z- handleDvl() - RDI_Pathfinder msg: 1607495895.75 epoch sec; seqNo:704 2020-12-09T06:38:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:38:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.69 , 0.01 , 0.11 2020-12-09T06:38:15Z- waiting for 1607495895.53, time is 1607495895.75 2020-12-09T06:38:15Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:15Z- LcmTrn::updateTrn() >>>> pose time 1607495895.74, meas time 1607495895.75 <<<< 2020-12-09T06:38:15Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495895.75, ping # 0. 2020-12-09T06:38:15Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495895.75 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:38:15Z- TerrainNav::motionUpdate() - currEstimate = (4061663, 594263.67, 49.97) 2020-12-09T06:38:15Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:38:15Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:38:15Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:38:15Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:38:15Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:38:15Z- TNavBF::mmse selected from filter -1 2020-12-09T06:38:15Z- variances([0], [2], and psi_berg) = 794.227066 833.091139 0.000000 2020-12-09T06:38:15Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:38:15Z- LcmTrn::cycle() - MLE : 4061635.16 594215.17 49.97 2020-12-09T06:38:15Z- LcmTrn::cycle() - MMSE : 4061662.66 594263.67 49.97 2020-12-09T06:38:15Z- LcmTrn::cycle() - COVAR: 794.23 833.09 48.91 0.00 2020-12-09T06:38:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495895.76 epoch sec; seqNo:1278; 4061662.65 north; 594262.45 east 2020-12-09T06:38:15Z- waiting for 1607495898.75, time is 1607495895.75 2020-12-09T06:38:15Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:16Z- AHRS_M2 msg: 1607495896.15 epoch sec; seqNo:1235 2020-12-09T06:38:16Z- AHRS_M2 msg: 4.66 phi; -0.03 theta; -0.24 psi 2020-12-09T06:38:16Z- waiting for 1607495898.75, time is 1607495895.75 2020-12-09T06:38:16Z- sync is 0.40, coherence is 2.00 2020-12-09T06:38:16Z- handleDepth()-Depth_Keller msg: 49.99 epoch sec; seqNo:1607495896152; depth 0.00 2020-12-09T06:38:16Z- waiting for 1607495898.75, time is 1607495895.75 2020-12-09T06:38:16Z- sync is 0.40, coherence is 2.00 2020-12-09T06:38:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495896.16 epoch sec; seqNo:1279; 4061662.65 north; 594262.45 east 2020-12-09T06:38:16Z- waiting for 1607495898.75, time is 1607495895.75 2020-12-09T06:38:16Z- sync is 0.41, coherence is 2.00 2020-12-09T06:38:16Z- AHRS_M2 msg: 1607495896.55 epoch sec; seqNo:1236 2020-12-09T06:38:16Z- AHRS_M2 msg: 4.66 phi; -0.03 theta; -0.24 psi 2020-12-09T06:38:16Z- waiting for 1607495898.75, time is 1607495895.75 2020-12-09T06:38:16Z- sync is 0.80, coherence is 2.00 2020-12-09T06:38:16Z- handleDepth()-Depth_Keller msg: 50.00 epoch sec; seqNo:1607495896567; depth 0.00 2020-12-09T06:38:16Z- waiting for 1607495898.75, time is 1607495895.75 2020-12-09T06:38:16Z- sync is 0.80, coherence is 2.00 2020-12-09T06:38:16Z- handleDvl() - RDI_Pathfinder msg: 1607495896.59 epoch sec; seqNo:705 2020-12-09T06:38:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.39 , 52.04 , 44.70 , 44.49 2020-12-09T06:38:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.65 , -0.03 , 0.06 2020-12-09T06:38:16Z- waiting for 1607495898.75, time is 1607495896.59 2020-12-09T06:38:16Z- sync is 0.04, coherence is 2.00 2020-12-09T06:38:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495896.60 epoch sec; seqNo:1280; 4061662.65 north; 594262.45 east 2020-12-09T06:38:16Z- waiting for 1607495898.75, time is 1607495896.59 2020-12-09T06:38:16Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:16Z- AHRS_M2 msg: 1607495896.95 epoch sec; seqNo:1237 2020-12-09T06:38:16Z- AHRS_M2 msg: 4.66 phi; -0.03 theta; -0.24 psi 2020-12-09T06:38:16Z- waiting for 1607495898.75, time is 1607495896.59 2020-12-09T06:38:16Z- sync is 0.37, coherence is 2.00 2020-12-09T06:38:16Z- handleDepth()-Depth_Keller msg: 50.02 epoch sec; seqNo:1607495896958; depth 0.00 2020-12-09T06:38:16Z- waiting for 1607495898.75, time is 1607495896.59 2020-12-09T06:38:16Z- sync is 0.37, coherence is 2.00 2020-12-09T06:38:16Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:16Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:16Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:16Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:38:16Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:38:16Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:38:16Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:38:16Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:38:16Z- handleDvl() - RDI_Pathfinder msg: 1607495896.96 epoch sec; seqNo:706 2020-12-09T06:38:16Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:38:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.65 , -0.03 , 0.06 2020-12-09T06:38:16Z- waiting for 1607495898.75, time is 1607495896.96 2020-12-09T06:38:16Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495896.99 epoch sec; seqNo:1281; 4061662.65 north; 594262.45 east 2020-12-09T06:38:16Z- waiting for 1607495898.75, time is 1607495896.96 2020-12-09T06:38:16Z- sync is 0.03, coherence is 2.00 2020-12-09T06:38:17Z- AHRS_M2 msg: 1607495897.36 epoch sec; seqNo:1238 2020-12-09T06:38:17Z- AHRS_M2 msg: 4.66 phi; -0.03 theta; -0.24 psi 2020-12-09T06:38:17Z- waiting for 1607495898.75, time is 1607495896.96 2020-12-09T06:38:17Z- sync is 0.40, coherence is 2.00 2020-12-09T06:38:17Z- handleDepth()-Depth_Keller msg: 50.04 epoch sec; seqNo:1607495897370; depth 0.00 2020-12-09T06:38:17Z- waiting for 1607495898.75, time is 1607495896.96 2020-12-09T06:38:17Z- sync is 0.40, coherence is 2.00 2020-12-09T06:38:17Z- handleDvl() - RDI_Pathfinder msg: 1607495897.38 epoch sec; seqNo:707 2020-12-09T06:38:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.59 , 52.04 , 44.49 , 44.70 2020-12-09T06:38:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.67 , -0.04 , -0.01 2020-12-09T06:38:17Z- waiting for 1607495898.75, time is 1607495897.38 2020-12-09T06:38:17Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495897.41 epoch sec; seqNo:1282; 4061662.65 north; 594262.45 east 2020-12-09T06:38:17Z- waiting for 1607495898.75, time is 1607495897.38 2020-12-09T06:38:17Z- sync is 0.03, coherence is 2.00 2020-12-09T06:38:17Z- AHRS_M2 msg: 1607495897.77 epoch sec; seqNo:1239 2020-12-09T06:38:17Z- AHRS_M2 msg: 4.66 phi; -0.03 theta; -0.24 psi 2020-12-09T06:38:17Z- waiting for 1607495898.75, time is 1607495897.38 2020-12-09T06:38:17Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:17Z- handleDepth()-Depth_Keller msg: 50.04 epoch sec; seqNo:1607495897773; depth 0.00 2020-12-09T06:38:17Z- waiting for 1607495898.75, time is 1607495897.38 2020-12-09T06:38:17Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495897.79 epoch sec; seqNo:1283; 4061662.64 north; 594261.23 east 2020-12-09T06:38:17Z- waiting for 1607495898.75, time is 1607495897.38 2020-12-09T06:38:17Z- sync is 0.40, coherence is 2.00 2020-12-09T06:38:18Z- AHRS_M2 msg: 1607495898.16 epoch sec; seqNo:1240 2020-12-09T06:38:18Z- AHRS_M2 msg: 4.66 phi; -0.03 theta; -0.24 psi 2020-12-09T06:38:18Z- waiting for 1607495898.75, time is 1607495897.38 2020-12-09T06:38:18Z- sync is 0.78, coherence is 2.00 2020-12-09T06:38:18Z- handleDepth()-Depth_Keller msg: 50.03 epoch sec; seqNo:1607495898179; depth 0.00 2020-12-09T06:38:18Z- waiting for 1607495898.75, time is 1607495897.38 2020-12-09T06:38:18Z- sync is 0.78, coherence is 2.00 2020-12-09T06:38:18Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:18Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:18Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:18Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:38:18Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:38:18Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:38:18Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:38:18Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:38:18Z- handleDvl() - RDI_Pathfinder msg: 1607495898.18 epoch sec; seqNo:708 2020-12-09T06:38:18Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:38:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.67 , -0.04 , -0.01 2020-12-09T06:38:18Z- waiting for 1607495898.75, time is 1607495898.18 2020-12-09T06:38:18Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495898.19 epoch sec; seqNo:1284; 4061662.64 north; 594261.23 east 2020-12-09T06:38:18Z- waiting for 1607495898.75, time is 1607495898.18 2020-12-09T06:38:18Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:18Z- handleDepth()-Depth_Keller msg: 50.02 epoch sec; seqNo:1607495898594; depth 0.00 2020-12-09T06:38:18Z- waiting for 1607495898.75, time is 1607495898.18 2020-12-09T06:38:18Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:18Z- handleDvl() - RDI_Pathfinder msg: 1607495898.61 epoch sec; seqNo:709 2020-12-09T06:38:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.39 , 51.84 , 44.29 , 44.90 2020-12-09T06:38:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.71 , -0.05 , -0.09 2020-12-09T06:38:18Z- waiting for 1607495898.75, time is 1607495898.61 2020-12-09T06:38:18Z- sync is 0.42, coherence is 2.00 2020-12-09T06:38:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495898.63 epoch sec; seqNo:1285; 4061662.64 north; 594261.23 east 2020-12-09T06:38:18Z- waiting for 1607495898.75, time is 1607495898.61 2020-12-09T06:38:18Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:18Z- AHRS_M2 msg: 1607495898.97 epoch sec; seqNo:1241 2020-12-09T06:38:18Z- AHRS_M2 msg: 4.67 phi; -0.03 theta; -0.24 psi 2020-12-09T06:38:18Z- waiting for 1607495898.75, time is 1607495898.61 2020-12-09T06:38:18Z- sync is 0.36, coherence is 2.00 2020-12-09T06:38:18Z- handleDepth()-Depth_Keller msg: 50.02 epoch sec; seqNo:1607495898979; depth 0.00 2020-12-09T06:38:18Z- waiting for 1607495898.75, time is 1607495898.61 2020-12-09T06:38:18Z- sync is 0.36, coherence is 2.00 2020-12-09T06:38:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495899.00 epoch sec; seqNo:1286; 4061662.26 north; 594261.23 east 2020-12-09T06:38:18Z- waiting for 1607495898.75, time is 1607495898.61 2020-12-09T06:38:18Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:19Z- AHRS_M2 msg: 1607495899.38 epoch sec; seqNo:1242 2020-12-09T06:38:19Z- AHRS_M2 msg: 4.67 phi; -0.03 theta; -0.23 psi 2020-12-09T06:38:19Z- waiting for 1607495898.75, time is 1607495898.61 2020-12-09T06:38:19Z- sync is 0.77, coherence is 2.00 2020-12-09T06:38:19Z- handleDepth()-Depth_Keller msg: 49.99 epoch sec; seqNo:1607495899389; depth 0.00 2020-12-09T06:38:19Z- waiting for 1607495898.75, time is 1607495898.61 2020-12-09T06:38:19Z- sync is 0.77, coherence is 2.00 2020-12-09T06:38:19Z- handleDvl() - RDI_Pathfinder msg: 1607495899.41 epoch sec; seqNo:710 2020-12-09T06:38:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.39 , 51.23 , 43.88 , 44.90 2020-12-09T06:38:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.02 , -0.14 2020-12-09T06:38:19Z- waiting for 1607495898.75, time is 1607495899.41 2020-12-09T06:38:19Z- sync is 0.03, coherence is 2.00 2020-12-09T06:38:19Z- LcmTrn::updateTrn() >>>> pose time 1607495899.38, meas time 1607495899.41 <<<< 2020-12-09T06:38:19Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495899.41 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:38:19Z- TerrainNav::motionUpdate() - currEstimate = (4061662, 594261.23, 49.99) 2020-12-09T06:38:19Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:38:19Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:38:19Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:38:19Z- TNavBF::mmse selected from filter -1 2020-12-09T06:38:19Z- variances([0], [2], and psi_berg) = 794.070495 833.090843 0.000000 2020-12-09T06:38:19Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:38:19Z- LcmTrn::cycle() - MLE : 4061634.76 594212.73 49.99 2020-12-09T06:38:19Z- LcmTrn::cycle() - MMSE : 4061662.26 594261.23 49.99 2020-12-09T06:38:19Z- LcmTrn::cycle() - COVAR: 794.07 833.09 49.04 0.00 2020-12-09T06:38:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495899.42 epoch sec; seqNo:1287; 4061662.25 north; 594260.01 east 2020-12-09T06:38:19Z- waiting for 1607495902.41, time is 1607495899.41 2020-12-09T06:38:19Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:19Z- AHRS_M2 msg: 1607495899.78 epoch sec; seqNo:1243 2020-12-09T06:38:19Z- AHRS_M2 msg: 4.67 phi; -0.03 theta; -0.23 psi 2020-12-09T06:38:19Z- waiting for 1607495902.41, time is 1607495899.41 2020-12-09T06:38:19Z- sync is 0.37, coherence is 2.00 2020-12-09T06:38:19Z- handleDepth()-Depth_Keller msg: 49.98 epoch sec; seqNo:1607495899792; depth 0.00 2020-12-09T06:38:19Z- waiting for 1607495902.41, time is 1607495899.41 2020-12-09T06:38:19Z- sync is 0.37, coherence is 2.00 2020-12-09T06:38:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495899.81 epoch sec; seqNo:1288; 4061662.25 north; 594260.01 east 2020-12-09T06:38:19Z- waiting for 1607495902.41, time is 1607495899.41 2020-12-09T06:38:19Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:20Z- AHRS_M2 msg: 1607495900.19 epoch sec; seqNo:1244 2020-12-09T06:38:20Z- AHRS_M2 msg: 4.67 phi; -0.03 theta; -0.23 psi 2020-12-09T06:38:20Z- waiting for 1607495902.41, time is 1607495899.41 2020-12-09T06:38:20Z- sync is 0.78, coherence is 2.00 2020-12-09T06:38:20Z- handleDepth()-Depth_Keller msg: 49.96 epoch sec; seqNo:1607495900192; depth 0.00 2020-12-09T06:38:20Z- waiting for 1607495902.41, time is 1607495899.41 2020-12-09T06:38:20Z- sync is 0.78, coherence is 2.00 2020-12-09T06:38:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495900.20 epoch sec; seqNo:1289; 4061662.25 north; 594260.01 east 2020-12-09T06:38:20Z- waiting for 1607495902.41, time is 1607495899.41 2020-12-09T06:38:20Z- sync is 0.79, coherence is 2.00 2020-12-09T06:38:20Z- AHRS_M2 msg: 1607495900.59 epoch sec; seqNo:1245 2020-12-09T06:38:20Z- AHRS_M2 msg: 4.67 phi; -0.03 theta; -0.23 psi 2020-12-09T06:38:20Z- waiting for 1607495902.41, time is 1607495899.41 2020-12-09T06:38:20Z- sync is 1.18, coherence is 2.00 2020-12-09T06:38:20Z- handleDepth()-Depth_Keller msg: 49.94 epoch sec; seqNo:1607495900598; depth 0.00 2020-12-09T06:38:20Z- waiting for 1607495902.41, time is 1607495899.41 2020-12-09T06:38:20Z- sync is 1.18, coherence is 2.00 2020-12-09T06:38:20Z- handleDvl() - RDI_Pathfinder msg: 1607495900.62 epoch sec; seqNo:711 2020-12-09T06:38:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.39 , 51.03 , 43.68 , 44.50 2020-12-09T06:38:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , 0.01 , -0.19 2020-12-09T06:38:20Z- waiting for 1607495902.41, time is 1607495900.62 2020-12-09T06:38:20Z- sync is 0.03, coherence is 2.00 2020-12-09T06:38:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495900.63 epoch sec; seqNo:1290; 4061662.25 north; 594260.01 east 2020-12-09T06:38:20Z- waiting for 1607495902.41, time is 1607495900.62 2020-12-09T06:38:20Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:20Z- AHRS_M2 msg: 1607495900.99 epoch sec; seqNo:1246 2020-12-09T06:38:20Z- AHRS_M2 msg: 4.67 phi; -0.03 theta; -0.23 psi 2020-12-09T06:38:20Z- waiting for 1607495902.41, time is 1607495900.62 2020-12-09T06:38:20Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:20Z- handleDepth()-Depth_Keller msg: 49.92 epoch sec; seqNo:1607495900998; depth 0.00 2020-12-09T06:38:20Z- waiting for 1607495902.41, time is 1607495900.62 2020-12-09T06:38:20Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495901.01 epoch sec; seqNo:1291; 4061662.23 north; 594258.79 east 2020-12-09T06:38:20Z- waiting for 1607495902.41, time is 1607495900.62 2020-12-09T06:38:20Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:21Z- AHRS_M2 msg: 1607495901.40 epoch sec; seqNo:1247 2020-12-09T06:38:21Z- AHRS_M2 msg: 4.67 phi; -0.03 theta; -0.23 psi 2020-12-09T06:38:21Z- waiting for 1607495902.41, time is 1607495900.62 2020-12-09T06:38:21Z- sync is 0.78, coherence is 2.00 2020-12-09T06:38:21Z- handleDepth()-Depth_Keller msg: 49.91 epoch sec; seqNo:1607495901479; depth 0.00 2020-12-09T06:38:21Z- waiting for 1607495902.41, time is 1607495900.62 2020-12-09T06:38:21Z- sync is 0.78, coherence is 2.00 2020-12-09T06:38:21Z- handleDvl() - RDI_Pathfinder msg: 1607495901.49 epoch sec; seqNo:712 2020-12-09T06:38:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.19 , 50.41 , 43.47 , 44.49 2020-12-09T06:38:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.05 , -0.19 2020-12-09T06:38:21Z- waiting for 1607495902.41, time is 1607495901.49 2020-12-09T06:38:21Z- sync is 0.10, coherence is 2.00 2020-12-09T06:38:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495901.51 epoch sec; seqNo:1292; 4061662.23 north; 594258.79 east 2020-12-09T06:38:21Z- waiting for 1607495902.41, time is 1607495901.49 2020-12-09T06:38:21Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:21Z- AHRS_M2 msg: 1607495901.80 epoch sec; seqNo:1248 2020-12-09T06:38:21Z- AHRS_M2 msg: 4.67 phi; -0.03 theta; -0.23 psi 2020-12-09T06:38:21Z- waiting for 1607495902.41, time is 1607495901.49 2020-12-09T06:38:21Z- sync is 0.31, coherence is 2.00 2020-12-09T06:38:21Z- handleDepth()-Depth_Keller msg: 49.88 epoch sec; seqNo:1607495901890; depth 0.00 2020-12-09T06:38:21Z- waiting for 1607495902.41, time is 1607495901.49 2020-12-09T06:38:21Z- sync is 0.31, coherence is 2.00 2020-12-09T06:38:21Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:21Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:21Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:21Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:38:21Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:38:21Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:38:21Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:38:21Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:38:21Z- handleDvl() - RDI_Pathfinder msg: 1607495901.89 epoch sec; seqNo:713 2020-12-09T06:38:21Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:38:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , 0.05 , -0.19 2020-12-09T06:38:21Z- waiting for 1607495902.41, time is 1607495901.89 2020-12-09T06:38:21Z- sync is 0.09, coherence is 2.00 2020-12-09T06:38:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495901.90 epoch sec; seqNo:1293; 4061662.23 north; 594258.79 east 2020-12-09T06:38:21Z- waiting for 1607495902.41, time is 1607495901.89 2020-12-09T06:38:21Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:22Z- AHRS_M2 msg: 1607495902.21 epoch sec; seqNo:1249 2020-12-09T06:38:22Z- AHRS_M2 msg: 4.67 phi; -0.03 theta; -0.23 psi 2020-12-09T06:38:22Z- waiting for 1607495902.41, time is 1607495901.89 2020-12-09T06:38:22Z- sync is 0.31, coherence is 2.00 2020-12-09T06:38:22Z- handleDepth()-Depth_Keller msg: 49.88 epoch sec; seqNo:1607495902243; depth 0.00 2020-12-09T06:38:22Z- waiting for 1607495902.41, time is 1607495901.89 2020-12-09T06:38:22Z- sync is 0.31, coherence is 2.00 2020-12-09T06:38:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495902.29 epoch sec; seqNo:1294; 4061662.22 north; 594257.57 east 2020-12-09T06:38:22Z- waiting for 1607495902.41, time is 1607495901.89 2020-12-09T06:38:22Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:22Z- AHRS_M2 msg: 1607495902.61 epoch sec; seqNo:1250 2020-12-09T06:38:22Z- AHRS_M2 msg: 4.67 phi; -0.03 theta; -0.23 psi 2020-12-09T06:38:22Z- waiting for 1607495902.41, time is 1607495901.89 2020-12-09T06:38:22Z- sync is 0.72, coherence is 2.00 2020-12-09T06:38:22Z- handleDepth()-Depth_Keller msg: 49.85 epoch sec; seqNo:1607495902646; depth 0.00 2020-12-09T06:38:22Z- waiting for 1607495902.41, time is 1607495901.89 2020-12-09T06:38:22Z- sync is 0.72, coherence is 2.00 2020-12-09T06:38:22Z- handleDvl() - RDI_Pathfinder msg: 1607495902.66 epoch sec; seqNo:714 2020-12-09T06:38:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.98 , 50.00 , 43.27 , 44.08 2020-12-09T06:38:22Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , 0.09 , -0.16 2020-12-09T06:38:22Z- waiting for 1607495902.41, time is 1607495902.66 2020-12-09T06:38:22Z- sync is 0.05, coherence is 2.00 2020-12-09T06:38:22Z- LcmTrn::updateTrn() >>>> pose time 1607495902.61, meas time 1607495902.66 <<<< 2020-12-09T06:38:22Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495902.66 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:38:22Z- TerrainNav::motionUpdate() - currEstimate = (4061662, 594257.57, 49.85) 2020-12-09T06:38:22Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:38:22Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:38:22Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:38:22Z- TNavBF::mmse selected from filter -1 2020-12-09T06:38:22Z- variances([0], [2], and psi_berg) = 793.880482 833.090484 0.000000 2020-12-09T06:38:22Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:38:22Z- LcmTrn::cycle() - MLE : 4061634.72 594209.07 49.85 2020-12-09T06:38:22Z- LcmTrn::cycle() - MMSE : 4061662.22 594257.57 49.85 2020-12-09T06:38:22Z- LcmTrn::cycle() - COVAR: 793.88 833.09 49.22 0.00 2020-12-09T06:38:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495902.68 epoch sec; seqNo:1295; 4061662.22 north; 594257.57 east 2020-12-09T06:38:22Z- waiting for 1607495905.66, time is 1607495902.66 2020-12-09T06:38:22Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:22Z- AHRS_M2 msg: 1607495903.01 epoch sec; seqNo:1251 2020-12-09T06:38:22Z- AHRS_M2 msg: 4.67 phi; -0.03 theta; -0.22 psi 2020-12-09T06:38:22Z- waiting for 1607495905.66, time is 1607495902.66 2020-12-09T06:38:22Z- sync is 0.35, coherence is 2.00 2020-12-09T06:38:22Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1607495903038; depth 0.00 2020-12-09T06:38:22Z- waiting for 1607495905.66, time is 1607495902.66 2020-12-09T06:38:22Z- sync is 0.35, coherence is 2.00 2020-12-09T06:38:22Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:22Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:22Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:22Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:38:22Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:38:22Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:38:22Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:38:22Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:38:22Z- handleDvl() - RDI_Pathfinder msg: 1607495903.04 epoch sec; seqNo:715 2020-12-09T06:38:22Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:38:22Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , 0.09 , -0.16 2020-12-09T06:38:22Z- waiting for 1607495905.66, time is 1607495903.04 2020-12-09T06:38:22Z- sync is 0.03, coherence is 2.00 2020-12-09T06:38:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495903.06 epoch sec; seqNo:1296; 4061662.22 north; 594257.57 east 2020-12-09T06:38:23Z- waiting for 1607495905.66, time is 1607495903.04 2020-12-09T06:38:23Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:23Z- AHRS_M2 msg: 1607495903.42 epoch sec; seqNo:1252 2020-12-09T06:38:23Z- AHRS_M2 msg: 4.66 phi; -0.03 theta; -0.22 psi 2020-12-09T06:38:23Z- waiting for 1607495905.66, time is 1607495903.04 2020-12-09T06:38:23Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:23Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1607495903422; depth 0.00 2020-12-09T06:38:23Z- waiting for 1607495905.66, time is 1607495903.04 2020-12-09T06:38:23Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:23Z- handleDvl() - RDI_Pathfinder msg: 1607495903.45 epoch sec; seqNo:716 2020-12-09T06:38:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.78 , 49.80 , 43.27 , 43.88 2020-12-09T06:38:23Z- handleDvl() - RDI_Pathfinder msg: velocities 1.12 , 0.12 , -0.12 2020-12-09T06:38:23Z- waiting for 1607495905.66, time is 1607495903.45 2020-12-09T06:38:23Z- sync is 0.03, coherence is 2.00 2020-12-09T06:38:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495903.46 epoch sec; seqNo:1297; 4061662.20 north; 594256.35 east 2020-12-09T06:38:23Z- waiting for 1607495905.66, time is 1607495903.45 2020-12-09T06:38:23Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:23Z- AHRS_M2 msg: 1607495903.82 epoch sec; seqNo:1253 2020-12-09T06:38:23Z- AHRS_M2 msg: 4.66 phi; -0.03 theta; -0.22 psi 2020-12-09T06:38:23Z- waiting for 1607495905.66, time is 1607495903.45 2020-12-09T06:38:23Z- sync is 0.37, coherence is 2.00 2020-12-09T06:38:23Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1607495903826; depth 0.00 2020-12-09T06:38:23Z- waiting for 1607495905.66, time is 1607495903.45 2020-12-09T06:38:23Z- sync is 0.37, coherence is 2.00 2020-12-09T06:38:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495903.84 epoch sec; seqNo:1298; 4061662.20 north; 594256.35 east 2020-12-09T06:38:23Z- waiting for 1607495905.66, time is 1607495903.45 2020-12-09T06:38:23Z- sync is 0.40, coherence is 2.00 2020-12-09T06:38:24Z- AHRS_M2 msg: 1607495904.23 epoch sec; seqNo:1254 2020-12-09T06:38:24Z- AHRS_M2 msg: 4.66 phi; -0.03 theta; -0.22 psi 2020-12-09T06:38:24Z- waiting for 1607495905.66, time is 1607495903.45 2020-12-09T06:38:24Z- sync is 0.78, coherence is 2.00 2020-12-09T06:38:24Z- handleDepth()-Depth_Keller msg: 49.82 epoch sec; seqNo:1607495904242; depth 0.00 2020-12-09T06:38:24Z- waiting for 1607495905.66, time is 1607495903.45 2020-12-09T06:38:24Z- sync is 0.78, coherence is 2.00 2020-12-09T06:38:24Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:24Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:24Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:24Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:38:24Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:38:24Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:38:24Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:38:24Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:38:24Z- handleDvl() - RDI_Pathfinder msg: 1607495904.25 epoch sec; seqNo:717 2020-12-09T06:38:24Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:38:24Z- handleDvl() - RDI_Pathfinder msg: velocities 1.12 , 0.12 , -0.12 2020-12-09T06:38:24Z- waiting for 1607495905.66, time is 1607495904.25 2020-12-09T06:38:24Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495904.30 epoch sec; seqNo:1299; 4061662.19 north; 594255.13 east 2020-12-09T06:38:24Z- waiting for 1607495905.66, time is 1607495904.25 2020-12-09T06:38:24Z- sync is 0.05, coherence is 2.00 2020-12-09T06:38:24Z- AHRS_M2 msg: 1607495904.64 epoch sec; seqNo:1255 2020-12-09T06:38:24Z- AHRS_M2 msg: 4.65 phi; -0.03 theta; -0.22 psi 2020-12-09T06:38:24Z- waiting for 1607495905.66, time is 1607495904.25 2020-12-09T06:38:24Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:24Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1607495904643; depth 0.00 2020-12-09T06:38:24Z- waiting for 1607495905.66, time is 1607495904.25 2020-12-09T06:38:24Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:24Z- handleDvl() - RDI_Pathfinder msg: 1607495904.65 epoch sec; seqNo:718 2020-12-09T06:38:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.78 , 49.80 , 43.27 , 43.68 2020-12-09T06:38:24Z- handleDvl() - RDI_Pathfinder msg: velocities 1.16 , 0.13 , -0.06 2020-12-09T06:38:24Z- waiting for 1607495905.66, time is 1607495904.65 2020-12-09T06:38:24Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495904.67 epoch sec; seqNo:1300; 4061662.19 north; 594255.13 east 2020-12-09T06:38:24Z- waiting for 1607495905.66, time is 1607495904.65 2020-12-09T06:38:24Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:24Z- AHRS_M2 msg: 1607495905.04 epoch sec; seqNo:1256 2020-12-09T06:38:24Z- AHRS_M2 msg: 4.65 phi; -0.03 theta; -0.22 psi 2020-12-09T06:38:24Z- waiting for 1607495905.66, time is 1607495904.65 2020-12-09T06:38:24Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:24Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1607495905041; depth 0.00 2020-12-09T06:38:24Z- waiting for 1607495905.66, time is 1607495904.65 2020-12-09T06:38:24Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495905.06 epoch sec; seqNo:1301; 4061662.19 north; 594255.13 east 2020-12-09T06:38:25Z- waiting for 1607495905.66, time is 1607495904.65 2020-12-09T06:38:25Z- sync is 0.41, coherence is 2.00 2020-12-09T06:38:25Z- AHRS_M2 msg: 1607495905.44 epoch sec; seqNo:1257 2020-12-09T06:38:25Z- AHRS_M2 msg: 4.65 phi; -0.03 theta; -0.22 psi 2020-12-09T06:38:25Z- waiting for 1607495905.66, time is 1607495904.65 2020-12-09T06:38:25Z- sync is 0.78, coherence is 2.00 2020-12-09T06:38:25Z- handleDepth()-Depth_Keller msg: 49.84 epoch sec; seqNo:1607495905442; depth 0.00 2020-12-09T06:38:25Z- waiting for 1607495905.66, time is 1607495904.65 2020-12-09T06:38:25Z- sync is 0.78, coherence is 2.00 2020-12-09T06:38:25Z- handleDvl() - RDI_Pathfinder msg: 1607495905.45 epoch sec; seqNo:719 2020-12-09T06:38:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.57 , 49.80 , 43.47 , 43.68 2020-12-09T06:38:25Z- handleDvl() - RDI_Pathfinder msg: velocities 1.16 , 0.13 , 0.00 2020-12-09T06:38:25Z- waiting for 1607495905.66, time is 1607495905.45 2020-12-09T06:38:25Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495905.48 epoch sec; seqNo:1302; 4061662.18 north; 594253.91 east 2020-12-09T06:38:25Z- waiting for 1607495905.66, time is 1607495905.45 2020-12-09T06:38:25Z- sync is 0.03, coherence is 2.00 2020-12-09T06:38:25Z- AHRS_M2 msg: 1607495905.84 epoch sec; seqNo:1258 2020-12-09T06:38:25Z- AHRS_M2 msg: 4.64 phi; -0.03 theta; -0.22 psi 2020-12-09T06:38:25Z- waiting for 1607495905.66, time is 1607495905.45 2020-12-09T06:38:25Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:25Z- handleDepth()-Depth_Keller msg: 49.87 epoch sec; seqNo:1607495905850; depth 0.00 2020-12-09T06:38:25Z- waiting for 1607495905.66, time is 1607495905.45 2020-12-09T06:38:25Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495905.86 epoch sec; seqNo:1303; 4061662.18 north; 594253.91 east 2020-12-09T06:38:25Z- waiting for 1607495905.66, time is 1607495905.45 2020-12-09T06:38:25Z- sync is 0.41, coherence is 2.00 2020-12-09T06:38:26Z- AHRS_M2 msg: 1607495906.28 epoch sec; seqNo:1259 2020-12-09T06:38:26Z- AHRS_M2 msg: 4.64 phi; -0.03 theta; -0.22 psi 2020-12-09T06:38:26Z- waiting for 1607495905.66, time is 1607495905.45 2020-12-09T06:38:26Z- sync is 0.82, coherence is 2.00 2020-12-09T06:38:26Z- handleDepth()-Depth_Keller msg: 49.89 epoch sec; seqNo:1607495906280; depth 0.00 2020-12-09T06:38:26Z- waiting for 1607495905.66, time is 1607495905.45 2020-12-09T06:38:26Z- sync is 0.82, coherence is 2.00 2020-12-09T06:38:26Z- handleDvl() - RDI_Pathfinder msg: 1607495906.29 epoch sec; seqNo:720 2020-12-09T06:38:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.98 , 50.00 , 43.68 , 43.88 2020-12-09T06:38:26Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , 0.14 , 0.06 2020-12-09T06:38:26Z- waiting for 1607495905.66, time is 1607495906.29 2020-12-09T06:38:26Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:26Z- LcmTrn::updateTrn() >>>> pose time 1607495906.28, meas time 1607495906.29 <<<< 2020-12-09T06:38:26Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495906.29 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:38:26Z- TerrainNav::motionUpdate() - currEstimate = (4061662, 594253.91, 49.89) 2020-12-09T06:38:26Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:38:26Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:38:26Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:38:26Z- TNavBF::mmse selected from filter -1 2020-12-09T06:38:26Z- variances([0], [2], and psi_berg) = 793.691207 833.090128 0.000000 2020-12-09T06:38:26Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:38:26Z- LcmTrn::cycle() - MLE : 4061634.68 594205.41 49.89 2020-12-09T06:38:26Z- LcmTrn::cycle() - MMSE : 4061662.18 594253.91 49.89 2020-12-09T06:38:26Z- LcmTrn::cycle() - COVAR: 793.69 833.09 49.41 0.00 2020-12-09T06:38:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495906.32 epoch sec; seqNo:1304; 4061662.18 north; 594253.91 east 2020-12-09T06:38:26Z- waiting for 1607495909.29, time is 1607495906.29 2020-12-09T06:38:26Z- sync is 0.03, coherence is 2.00 2020-12-09T06:38:26Z- AHRS_M2 msg: 1607495906.65 epoch sec; seqNo:1260 2020-12-09T06:38:26Z- AHRS_M2 msg: 4.63 phi; -0.03 theta; -0.22 psi 2020-12-09T06:38:26Z- waiting for 1607495909.29, time is 1607495906.29 2020-12-09T06:38:26Z- sync is 0.36, coherence is 2.00 2020-12-09T06:38:26Z- handleDepth()-Depth_Keller msg: 49.93 epoch sec; seqNo:1607495906654; depth 0.00 2020-12-09T06:38:26Z- waiting for 1607495909.29, time is 1607495906.29 2020-12-09T06:38:26Z- sync is 0.36, coherence is 2.00 2020-12-09T06:38:26Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:26Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:26Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:26Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:38:26Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:38:26Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:38:26Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:38:26Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:38:26Z- handleDvl() - RDI_Pathfinder msg: 1607495906.66 epoch sec; seqNo:721 2020-12-09T06:38:26Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:38:26Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , 0.14 , 0.06 2020-12-09T06:38:26Z- waiting for 1607495909.29, time is 1607495906.66 2020-12-09T06:38:26Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495906.68 epoch sec; seqNo:1305; 4061662.16 north; 594252.69 east 2020-12-09T06:38:26Z- waiting for 1607495909.29, time is 1607495906.66 2020-12-09T06:38:26Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:27Z- AHRS_M2 msg: 1607495907.05 epoch sec; seqNo:1261 2020-12-09T06:38:27Z- AHRS_M2 msg: 4.63 phi; -0.03 theta; -0.22 psi 2020-12-09T06:38:27Z- waiting for 1607495909.29, time is 1607495906.66 2020-12-09T06:38:27Z- sync is 0.40, coherence is 2.00 2020-12-09T06:38:27Z- handleDepth()-Depth_Keller msg: 49.96 epoch sec; seqNo:1607495907058; depth 0.00 2020-12-09T06:38:27Z- waiting for 1607495909.29, time is 1607495906.66 2020-12-09T06:38:27Z- sync is 0.40, coherence is 2.00 2020-12-09T06:38:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495907.07 epoch sec; seqNo:1306; 4061662.16 north; 594252.69 east 2020-12-09T06:38:27Z- waiting for 1607495909.29, time is 1607495906.66 2020-12-09T06:38:27Z- sync is 0.41, coherence is 2.00 2020-12-09T06:38:27Z- AHRS_M2 msg: 1607495907.46 epoch sec; seqNo:1262 2020-12-09T06:38:27Z- AHRS_M2 msg: 4.63 phi; -0.03 theta; -0.22 psi 2020-12-09T06:38:27Z- waiting for 1607495909.29, time is 1607495906.66 2020-12-09T06:38:27Z- sync is 0.80, coherence is 2.00 2020-12-09T06:38:27Z- handleDepth()-Depth_Keller msg: 49.99 epoch sec; seqNo:1607495907464; depth 0.00 2020-12-09T06:38:27Z- waiting for 1607495909.29, time is 1607495906.66 2020-12-09T06:38:27Z- sync is 0.80, coherence is 2.00 2020-12-09T06:38:27Z- handleDvl() - RDI_Pathfinder msg: 1607495907.48 epoch sec; seqNo:722 2020-12-09T06:38:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.78 , 49.80 , 44.09 , 43.88 2020-12-09T06:38:27Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , 0.11 , 0.09 2020-12-09T06:38:27Z- waiting for 1607495909.29, time is 1607495907.48 2020-12-09T06:38:27Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495907.49 epoch sec; seqNo:1307; 4061662.16 north; 594252.69 east 2020-12-09T06:38:27Z- waiting for 1607495909.29, time is 1607495907.48 2020-12-09T06:38:27Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:27Z- AHRS_M2 msg: 1607495907.87 epoch sec; seqNo:1263 2020-12-09T06:38:27Z- AHRS_M2 msg: 4.63 phi; -0.03 theta; -0.22 psi 2020-12-09T06:38:27Z- waiting for 1607495909.29, time is 1607495907.48 2020-12-09T06:38:27Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:27Z- handleDepth()-Depth_Keller msg: 50.05 epoch sec; seqNo:1607495907878; depth 0.00 2020-12-09T06:38:27Z- waiting for 1607495909.29, time is 1607495907.48 2020-12-09T06:38:27Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:27Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:27Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:27Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:27Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:38:27Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:38:27Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:38:27Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:38:27Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:38:27Z- handleDvl() - RDI_Pathfinder msg: 1607495907.88 epoch sec; seqNo:723 2020-12-09T06:38:27Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:38:27Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , 0.11 , 0.09 2020-12-09T06:38:27Z- waiting for 1607495909.29, time is 1607495907.88 2020-12-09T06:38:27Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495907.89 epoch sec; seqNo:1308; 4061662.53 north; 594251.47 east 2020-12-09T06:38:27Z- waiting for 1607495909.29, time is 1607495907.88 2020-12-09T06:38:27Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:28Z- AHRS_M2 msg: 1607495908.28 epoch sec; seqNo:1264 2020-12-09T06:38:28Z- AHRS_M2 msg: 4.62 phi; -0.04 theta; -0.22 psi 2020-12-09T06:38:28Z- waiting for 1607495909.29, time is 1607495907.88 2020-12-09T06:38:28Z- sync is 0.40, coherence is 2.00 2020-12-09T06:38:28Z- handleDepth()-Depth_Keller msg: 50.08 epoch sec; seqNo:1607495908286; depth 0.00 2020-12-09T06:38:28Z- waiting for 1607495909.29, time is 1607495907.88 2020-12-09T06:38:28Z- sync is 0.40, coherence is 2.00 2020-12-09T06:38:28Z- handleDvl() - RDI_Pathfinder msg: 1607495908.30 epoch sec; seqNo:724 2020-12-09T06:38:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.99 , 49.80 , 44.29 , 44.09 2020-12-09T06:38:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.08 , 0.11 2020-12-09T06:38:28Z- waiting for 1607495909.29, time is 1607495908.30 2020-12-09T06:38:28Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495908.32 epoch sec; seqNo:1309; 4061662.53 north; 594251.47 east 2020-12-09T06:38:28Z- waiting for 1607495909.29, time is 1607495908.30 2020-12-09T06:38:28Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:28Z- AHRS_M2 msg: 1607495908.67 epoch sec; seqNo:1265 2020-12-09T06:38:28Z- AHRS_M2 msg: 4.62 phi; -0.04 theta; -0.22 psi 2020-12-09T06:38:28Z- waiting for 1607495909.29, time is 1607495908.30 2020-12-09T06:38:28Z- sync is 0.37, coherence is 2.00 2020-12-09T06:38:28Z- handleDepth()-Depth_Keller msg: 50.12 epoch sec; seqNo:1607495908678; depth 0.00 2020-12-09T06:38:28Z- waiting for 1607495909.29, time is 1607495908.30 2020-12-09T06:38:28Z- sync is 0.37, coherence is 2.00 2020-12-09T06:38:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495908.69 epoch sec; seqNo:1310; 4061662.53 north; 594251.47 east 2020-12-09T06:38:28Z- waiting for 1607495909.29, time is 1607495908.30 2020-12-09T06:38:28Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:29Z- AHRS_M2 msg: 1607495909.07 epoch sec; seqNo:1266 2020-12-09T06:38:29Z- AHRS_M2 msg: 4.62 phi; -0.04 theta; -0.22 psi 2020-12-09T06:38:29Z- waiting for 1607495909.29, time is 1607495908.30 2020-12-09T06:38:29Z- sync is 0.77, coherence is 2.00 2020-12-09T06:38:29Z- handleDepth()-Depth_Keller msg: 50.18 epoch sec; seqNo:1607495909079; depth 0.00 2020-12-09T06:38:29Z- waiting for 1607495909.29, time is 1607495908.30 2020-12-09T06:38:29Z- sync is 0.77, coherence is 2.00 2020-12-09T06:38:29Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:29Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:29Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:29Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:38:29Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:38:29Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:38:29Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:38:29Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:38:29Z- handleDvl() - RDI_Pathfinder msg: 1607495909.08 epoch sec; seqNo:725 2020-12-09T06:38:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:38:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.08 , 0.11 2020-12-09T06:38:29Z- waiting for 1607495909.29, time is 1607495909.08 2020-12-09T06:38:29Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495909.09 epoch sec; seqNo:1311; 4061662.52 north; 594250.25 east 2020-12-09T06:38:29Z- waiting for 1607495909.29, time is 1607495909.08 2020-12-09T06:38:29Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:29Z- AHRS_M2 msg: 1607495909.48 epoch sec; seqNo:1267 2020-12-09T06:38:29Z- AHRS_M2 msg: 4.62 phi; -0.04 theta; -0.22 psi 2020-12-09T06:38:29Z- waiting for 1607495909.29, time is 1607495909.08 2020-12-09T06:38:29Z- sync is 0.40, coherence is 2.00 2020-12-09T06:38:29Z- handleDepth()-Depth_Keller msg: 50.23 epoch sec; seqNo:1607495909486; depth 0.00 2020-12-09T06:38:29Z- waiting for 1607495909.29, time is 1607495909.08 2020-12-09T06:38:29Z- sync is 0.40, coherence is 2.00 2020-12-09T06:38:29Z- handleDvl() - RDI_Pathfinder msg: 1607495909.50 epoch sec; seqNo:726 2020-12-09T06:38:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.19 , 50.21 , 44.50 , 44.09 2020-12-09T06:38:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , 0.05 , 0.12 2020-12-09T06:38:29Z- waiting for 1607495909.29, time is 1607495909.50 2020-12-09T06:38:29Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:29Z- LcmTrn::updateTrn() >>>> pose time 1607495909.48, meas time 1607495909.50 <<<< 2020-12-09T06:38:29Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495909.50 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:38:29Z- TerrainNav::motionUpdate() - currEstimate = (4061663, 594250.25, 50.23) 2020-12-09T06:38:29Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:38:29Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:38:29Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:38:29Z- TNavBF::mmse selected from filter -1 2020-12-09T06:38:29Z- variances([0], [2], and psi_berg) = 793.502160 833.089774 0.000000 2020-12-09T06:38:29Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:38:29Z- LcmTrn::cycle() - MLE : 4061635.02 594207.75 50.23 2020-12-09T06:38:29Z- LcmTrn::cycle() - MMSE : 4061662.52 594250.25 50.23 2020-12-09T06:38:29Z- LcmTrn::cycle() - COVAR: 793.50 833.09 49.60 0.00 2020-12-09T06:38:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495909.52 epoch sec; seqNo:1312; 4061662.52 north; 594250.25 east 2020-12-09T06:38:29Z- waiting for 1607495912.50, time is 1607495909.50 2020-12-09T06:38:29Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:29Z- AHRS_M2 msg: 1607495909.88 epoch sec; seqNo:1268 2020-12-09T06:38:29Z- AHRS_M2 msg: 4.62 phi; -0.03 theta; -0.23 psi 2020-12-09T06:38:29Z- waiting for 1607495912.50, time is 1607495909.50 2020-12-09T06:38:29Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:29Z- handleDepth()-Depth_Keller msg: 50.27 epoch sec; seqNo:1607495909890; depth 0.00 2020-12-09T06:38:29Z- waiting for 1607495912.50, time is 1607495909.50 2020-12-09T06:38:29Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495909.91 epoch sec; seqNo:1313; 4061662.52 north; 594250.25 east 2020-12-09T06:38:29Z- waiting for 1607495912.50, time is 1607495909.50 2020-12-09T06:38:29Z- sync is 0.41, coherence is 2.00 2020-12-09T06:38:30Z- AHRS_M2 msg: 1607495910.29 epoch sec; seqNo:1269 2020-12-09T06:38:30Z- AHRS_M2 msg: 4.62 phi; -0.03 theta; -0.22 psi 2020-12-09T06:38:30Z- waiting for 1607495912.50, time is 1607495909.50 2020-12-09T06:38:30Z- sync is 0.79, coherence is 2.00 2020-12-09T06:38:30Z- handleDepth()-Depth_Keller msg: 50.33 epoch sec; seqNo:1607495910292; depth 0.00 2020-12-09T06:38:30Z- waiting for 1607495912.50, time is 1607495909.50 2020-12-09T06:38:30Z- sync is 0.79, coherence is 2.00 2020-12-09T06:38:30Z- handleDvl() - RDI_Pathfinder msg: 1607495910.31 epoch sec; seqNo:727 2020-12-09T06:38:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.99 , 50.42 , 44.90 , 44.50 2020-12-09T06:38:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , 0.01 , 0.11 2020-12-09T06:38:30Z- waiting for 1607495912.50, time is 1607495910.31 2020-12-09T06:38:30Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495910.34 epoch sec; seqNo:1314; 4061662.12 north; 594249.03 east 2020-12-09T06:38:30Z- waiting for 1607495912.50, time is 1607495910.31 2020-12-09T06:38:30Z- sync is 0.03, coherence is 2.00 2020-12-09T06:38:30Z- AHRS_M2 msg: 1607495910.69 epoch sec; seqNo:1270 2020-12-09T06:38:30Z- AHRS_M2 msg: 4.62 phi; -0.03 theta; -0.23 psi 2020-12-09T06:38:30Z- waiting for 1607495912.50, time is 1607495910.31 2020-12-09T06:38:30Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:30Z- handleDepth()-Depth_Keller msg: 50.36 epoch sec; seqNo:1607495910706; depth 0.00 2020-12-09T06:38:30Z- waiting for 1607495912.50, time is 1607495910.31 2020-12-09T06:38:30Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495910.72 epoch sec; seqNo:1315; 4061662.12 north; 594249.03 east 2020-12-09T06:38:30Z- waiting for 1607495912.50, time is 1607495910.31 2020-12-09T06:38:30Z- sync is 0.41, coherence is 2.00 2020-12-09T06:38:31Z- AHRS_M2 msg: 1607495911.09 epoch sec; seqNo:1271 2020-12-09T06:38:31Z- AHRS_M2 msg: 4.62 phi; -0.03 theta; -0.23 psi 2020-12-09T06:38:31Z- waiting for 1607495912.50, time is 1607495910.31 2020-12-09T06:38:31Z- sync is 0.78, coherence is 2.00 2020-12-09T06:38:31Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1607495911102; depth 0.00 2020-12-09T06:38:31Z- waiting for 1607495912.50, time is 1607495910.31 2020-12-09T06:38:31Z- sync is 0.78, coherence is 2.00 2020-12-09T06:38:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495911.11 epoch sec; seqNo:1316; 4061662.12 north; 594249.03 east 2020-12-09T06:38:31Z- waiting for 1607495912.50, time is 1607495910.31 2020-12-09T06:38:31Z- sync is 0.80, coherence is 2.00 2020-12-09T06:38:31Z- AHRS_M2 msg: 1607495911.50 epoch sec; seqNo:1272 2020-12-09T06:38:31Z- AHRS_M2 msg: 4.62 phi; -0.03 theta; -0.23 psi 2020-12-09T06:38:31Z- waiting for 1607495912.50, time is 1607495910.31 2020-12-09T06:38:31Z- sync is 1.19, coherence is 2.00 2020-12-09T06:38:31Z- handleDepth()-Depth_Keller msg: 50.45 epoch sec; seqNo:1607495911503; depth 0.00 2020-12-09T06:38:31Z- waiting for 1607495912.50, time is 1607495910.31 2020-12-09T06:38:31Z- sync is 1.19, coherence is 2.00 2020-12-09T06:38:31Z- handleDvl() - RDI_Pathfinder msg: 1607495911.52 epoch sec; seqNo:728 2020-12-09T06:38:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.19 , 50.82 , 44.90 , 44.49 2020-12-09T06:38:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.01 , 0.09 2020-12-09T06:38:31Z- waiting for 1607495912.50, time is 1607495911.52 2020-12-09T06:38:31Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495911.53 epoch sec; seqNo:1317; 4061662.12 north; 594249.03 east 2020-12-09T06:38:31Z- waiting for 1607495912.50, time is 1607495911.52 2020-12-09T06:38:31Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:31Z- AHRS_M2 msg: 1607495911.90 epoch sec; seqNo:1273 2020-12-09T06:38:31Z- AHRS_M2 msg: 4.62 phi; -0.03 theta; -0.23 psi 2020-12-09T06:38:31Z- waiting for 1607495912.50, time is 1607495911.52 2020-12-09T06:38:31Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:31Z- handleDepth()-Depth_Keller msg: 50.49 epoch sec; seqNo:1607495911908; depth 0.00 2020-12-09T06:38:31Z- waiting for 1607495912.50, time is 1607495911.52 2020-12-09T06:38:31Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495911.92 epoch sec; seqNo:1318; 4061662.11 north; 594247.81 east 2020-12-09T06:38:31Z- waiting for 1607495912.50, time is 1607495911.52 2020-12-09T06:38:31Z- sync is 0.41, coherence is 2.00 2020-12-09T06:38:32Z- AHRS_M2 msg: 1607495912.31 epoch sec; seqNo:1274 2020-12-09T06:38:32Z- AHRS_M2 msg: 4.62 phi; -0.03 theta; -0.23 psi 2020-12-09T06:38:32Z- waiting for 1607495912.50, time is 1607495911.52 2020-12-09T06:38:32Z- sync is 0.79, coherence is 2.00 2020-12-09T06:38:32Z- handleDepth()-Depth_Keller msg: 50.52 epoch sec; seqNo:1607495912326; depth 0.00 2020-12-09T06:38:32Z- waiting for 1607495912.50, time is 1607495911.52 2020-12-09T06:38:32Z- sync is 0.79, coherence is 2.00 2020-12-09T06:38:32Z- handleDvl() - RDI_Pathfinder msg: 1607495912.34 epoch sec; seqNo:729 2020-12-09T06:38:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.39 , 50.62 , 45.10 , 44.49 2020-12-09T06:38:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.05 , 0.05 2020-12-09T06:38:32Z- waiting for 1607495912.50, time is 1607495912.34 2020-12-09T06:38:32Z- sync is 0.03, coherence is 2.00 2020-12-09T06:38:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495912.35 epoch sec; seqNo:1319; 4061662.11 north; 594247.81 east 2020-12-09T06:38:32Z- waiting for 1607495912.50, time is 1607495912.34 2020-12-09T06:38:32Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:32Z- AHRS_M2 msg: 1607495912.71 epoch sec; seqNo:1275 2020-12-09T06:38:32Z- AHRS_M2 msg: 4.62 phi; -0.03 theta; -0.23 psi 2020-12-09T06:38:32Z- waiting for 1607495912.50, time is 1607495912.34 2020-12-09T06:38:32Z- sync is 0.37, coherence is 2.00 2020-12-09T06:38:32Z- handleDepth()-Depth_Keller msg: 50.54 epoch sec; seqNo:1607495912713; depth 0.00 2020-12-09T06:38:32Z- waiting for 1607495912.50, time is 1607495912.34 2020-12-09T06:38:32Z- sync is 0.37, coherence is 2.00 2020-12-09T06:38:32Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:32Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:32Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:32Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:38:32Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:38:32Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:38:32Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:38:32Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:38:32Z- handleDvl() - RDI_Pathfinder msg: 1607495912.71 epoch sec; seqNo:730 2020-12-09T06:38:32Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:38:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.05 , 0.05 2020-12-09T06:38:32Z- waiting for 1607495912.50, time is 1607495912.71 2020-12-09T06:38:32Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:32Z- LcmTrn::updateTrn() >>>> pose time 1607495912.71, meas time 1607495912.71 <<<< 2020-12-09T06:38:32Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495912.71, ping # 0. 2020-12-09T06:38:32Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495912.71 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:38:32Z- TerrainNav::motionUpdate() - currEstimate = (4061662, 594247.81, 50.54) 2020-12-09T06:38:32Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:38:32Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:38:32Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:38:32Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:38:32Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:38:32Z- TNavBF::mmse selected from filter -1 2020-12-09T06:38:32Z- variances([0], [2], and psi_berg) = 793.347895 833.089486 0.000000 2020-12-09T06:38:32Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:38:32Z- LcmTrn::cycle() - MLE : 4061634.61 594205.31 50.54 2020-12-09T06:38:32Z- LcmTrn::cycle() - MMSE : 4061662.11 594247.81 50.54 2020-12-09T06:38:32Z- LcmTrn::cycle() - COVAR: 793.35 833.09 49.72 0.00 2020-12-09T06:38:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495912.74 epoch sec; seqNo:1320; 4061662.11 north; 594247.81 east 2020-12-09T06:38:32Z- waiting for 1607495915.71, time is 1607495912.71 2020-12-09T06:38:32Z- sync is 0.03, coherence is 2.00 2020-12-09T06:38:33Z- AHRS_M2 msg: 1607495913.11 epoch sec; seqNo:1276 2020-12-09T06:38:33Z- AHRS_M2 msg: 4.62 phi; -0.03 theta; -0.23 psi 2020-12-09T06:38:33Z- waiting for 1607495915.71, time is 1607495912.71 2020-12-09T06:38:33Z- sync is 0.40, coherence is 2.00 2020-12-09T06:38:33Z- handleDepth()-Depth_Keller msg: 50.59 epoch sec; seqNo:1607495913119; depth 0.00 2020-12-09T06:38:33Z- waiting for 1607495915.71, time is 1607495912.71 2020-12-09T06:38:33Z- sync is 0.40, coherence is 2.00 2020-12-09T06:38:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495913.13 epoch sec; seqNo:1321; 4061662.11 north; 594247.81 east 2020-12-09T06:38:33Z- waiting for 1607495915.71, time is 1607495912.71 2020-12-09T06:38:33Z- sync is 0.41, coherence is 2.00 2020-12-09T06:38:33Z- AHRS_M2 msg: 1607495913.52 epoch sec; seqNo:1277 2020-12-09T06:38:33Z- AHRS_M2 msg: 4.62 phi; -0.03 theta; -0.23 psi 2020-12-09T06:38:33Z- waiting for 1607495915.71, time is 1607495912.71 2020-12-09T06:38:33Z- sync is 0.80, coherence is 2.00 2020-12-09T06:38:33Z- handleDepth()-Depth_Keller msg: 50.57 epoch sec; seqNo:1607495913524; depth 0.00 2020-12-09T06:38:33Z- waiting for 1607495915.71, time is 1607495912.71 2020-12-09T06:38:33Z- sync is 0.80, coherence is 2.00 2020-12-09T06:38:33Z- handleDvl() - RDI_Pathfinder msg: 1607495913.54 epoch sec; seqNo:731 2020-12-09T06:38:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.39 , 50.62 , 45.10 , 44.49 2020-12-09T06:38:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.05 , 0.03 2020-12-09T06:38:33Z- waiting for 1607495915.71, time is 1607495913.54 2020-12-09T06:38:33Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495913.55 epoch sec; seqNo:1322; 4061662.10 north; 594246.59 east 2020-12-09T06:38:33Z- waiting for 1607495915.71, time is 1607495913.54 2020-12-09T06:38:33Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:33Z- AHRS_M2 msg: 1607495913.92 epoch sec; seqNo:1278 2020-12-09T06:38:33Z- AHRS_M2 msg: 4.62 phi; -0.03 theta; -0.22 psi 2020-12-09T06:38:33Z- waiting for 1607495915.71, time is 1607495913.54 2020-12-09T06:38:33Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:33Z- handleDepth()-Depth_Keller msg: 50.63 epoch sec; seqNo:1607495913926; depth 0.00 2020-12-09T06:38:33Z- waiting for 1607495915.71, time is 1607495913.54 2020-12-09T06:38:33Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:33Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:33Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:33Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:33Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:38:33Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:38:33Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:38:33Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:38:33Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:38:33Z- handleDvl() - RDI_Pathfinder msg: 1607495913.93 epoch sec; seqNo:732 2020-12-09T06:38:33Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:38:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.05 , 0.03 2020-12-09T06:38:33Z- waiting for 1607495915.71, time is 1607495913.93 2020-12-09T06:38:33Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495913.95 epoch sec; seqNo:1323; 4061662.10 north; 594246.59 east 2020-12-09T06:38:33Z- waiting for 1607495915.71, time is 1607495913.93 2020-12-09T06:38:33Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:34Z- AHRS_M2 msg: 1607495914.33 epoch sec; seqNo:1279 2020-12-09T06:38:34Z- AHRS_M2 msg: 4.63 phi; -0.02 theta; -0.22 psi 2020-12-09T06:38:34Z- waiting for 1607495915.71, time is 1607495913.93 2020-12-09T06:38:34Z- sync is 0.40, coherence is 2.00 2020-12-09T06:38:34Z- handleDepth()-Depth_Keller msg: 50.62 epoch sec; seqNo:1607495914338; depth 0.00 2020-12-09T06:38:34Z- waiting for 1607495915.71, time is 1607495913.93 2020-12-09T06:38:34Z- sync is 0.40, coherence is 2.00 2020-12-09T06:38:34Z- handleDvl() - RDI_Pathfinder msg: 1607495914.35 epoch sec; seqNo:733 2020-12-09T06:38:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.39 , 50.62 , 44.90 , 44.49 2020-12-09T06:38:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.05 , 0.01 2020-12-09T06:38:34Z- waiting for 1607495915.71, time is 1607495914.35 2020-12-09T06:38:34Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495914.38 epoch sec; seqNo:1324; 4061662.10 north; 594246.59 east 2020-12-09T06:38:34Z- waiting for 1607495915.71, time is 1607495914.35 2020-12-09T06:38:34Z- sync is 0.03, coherence is 2.00 2020-12-09T06:38:34Z- AHRS_M2 msg: 1607495914.73 epoch sec; seqNo:1280 2020-12-09T06:38:34Z- AHRS_M2 msg: 4.63 phi; -0.02 theta; -0.22 psi 2020-12-09T06:38:34Z- waiting for 1607495915.71, time is 1607495914.35 2020-12-09T06:38:34Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:34Z- handleDepth()-Depth_Keller msg: 50.62 epoch sec; seqNo:1607495914813; depth 0.00 2020-12-09T06:38:34Z- waiting for 1607495915.71, time is 1607495914.35 2020-12-09T06:38:34Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495914.83 epoch sec; seqNo:1325; 4061661.72 north; 594246.59 east 2020-12-09T06:38:34Z- waiting for 1607495915.71, time is 1607495914.35 2020-12-09T06:38:34Z- sync is 0.48, coherence is 2.00 2020-12-09T06:38:35Z- AHRS_M2 msg: 1607495915.13 epoch sec; seqNo:1281 2020-12-09T06:38:35Z- AHRS_M2 msg: 4.63 phi; -0.02 theta; -0.22 psi 2020-12-09T06:38:35Z- waiting for 1607495915.71, time is 1607495914.35 2020-12-09T06:38:35Z- sync is 0.78, coherence is 2.00 2020-12-09T06:38:35Z- handleDepth()-Depth_Keller msg: 50.63 epoch sec; seqNo:1607495915170; depth 0.00 2020-12-09T06:38:35Z- waiting for 1607495915.71, time is 1607495914.35 2020-12-09T06:38:35Z- sync is 0.78, coherence is 2.00 2020-12-09T06:38:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:35Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:35Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:38:35Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:38:35Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:38:35Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:38:35Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:38:35Z- handleDvl() - RDI_Pathfinder msg: 1607495915.17 epoch sec; seqNo:734 2020-12-09T06:38:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:38:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.05 , 0.01 2020-12-09T06:38:35Z- waiting for 1607495915.71, time is 1607495915.17 2020-12-09T06:38:35Z- sync is 0.04, coherence is 2.00 2020-12-09T06:38:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495915.19 epoch sec; seqNo:1326; 4061661.71 north; 594245.37 east 2020-12-09T06:38:35Z- waiting for 1607495915.71, time is 1607495915.17 2020-12-09T06:38:35Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:35Z- AHRS_M2 msg: 1607495915.54 epoch sec; seqNo:1282 2020-12-09T06:38:35Z- AHRS_M2 msg: 4.63 phi; -0.01 theta; -0.22 psi 2020-12-09T06:38:35Z- waiting for 1607495915.71, time is 1607495915.17 2020-12-09T06:38:35Z- sync is 0.36, coherence is 2.00 2020-12-09T06:38:35Z- handleDepth()-Depth_Keller msg: 50.63 epoch sec; seqNo:1607495915623; depth 0.00 2020-12-09T06:38:35Z- waiting for 1607495915.71, time is 1607495915.17 2020-12-09T06:38:35Z- sync is 0.36, coherence is 2.00 2020-12-09T06:38:35Z- handleDvl() - RDI_Pathfinder msg: 1607495915.63 epoch sec; seqNo:735 2020-12-09T06:38:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.39 , 50.01 , 45.11 , 44.29 2020-12-09T06:38:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.03 , -0.02 2020-12-09T06:38:35Z- waiting for 1607495915.71, time is 1607495915.63 2020-12-09T06:38:35Z- sync is 0.10, coherence is 2.00 2020-12-09T06:38:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495915.65 epoch sec; seqNo:1327; 4061661.71 north; 594245.37 east 2020-12-09T06:38:35Z- waiting for 1607495915.71, time is 1607495915.63 2020-12-09T06:38:35Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:35Z- AHRS_M2 msg: 1607495915.94 epoch sec; seqNo:1283 2020-12-09T06:38:35Z- AHRS_M2 msg: 4.63 phi; -0.01 theta; -0.21 psi 2020-12-09T06:38:35Z- waiting for 1607495915.71, time is 1607495915.63 2020-12-09T06:38:35Z- sync is 0.31, coherence is 2.00 2020-12-09T06:38:35Z- handleDepth()-Depth_Keller msg: 50.62 epoch sec; seqNo:1607495915974; depth 0.00 2020-12-09T06:38:35Z- waiting for 1607495915.71, time is 1607495915.63 2020-12-09T06:38:35Z- sync is 0.31, coherence is 2.00 2020-12-09T06:38:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495916.01 epoch sec; seqNo:1328; 4061661.71 north; 594245.37 east 2020-12-09T06:38:35Z- waiting for 1607495915.71, time is 1607495915.63 2020-12-09T06:38:35Z- sync is 0.37, coherence is 2.00 2020-12-09T06:38:36Z- AHRS_M2 msg: 1607495916.35 epoch sec; seqNo:1284 2020-12-09T06:38:36Z- AHRS_M2 msg: 4.64 phi; -0.01 theta; -0.21 psi 2020-12-09T06:38:36Z- waiting for 1607495915.71, time is 1607495915.63 2020-12-09T06:38:36Z- sync is 0.71, coherence is 2.00 2020-12-09T06:38:36Z- handleDepth()-Depth_Keller msg: 50.61 epoch sec; seqNo:1607495916370; depth 0.00 2020-12-09T06:38:36Z- waiting for 1607495915.71, time is 1607495915.63 2020-12-09T06:38:36Z- sync is 0.71, coherence is 2.00 2020-12-09T06:38:36Z- handleDvl() - RDI_Pathfinder msg: 1607495916.39 epoch sec; seqNo:736 2020-12-09T06:38:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.39 , 49.80 , 45.11 , 43.68 2020-12-09T06:38:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.02 , -0.06 2020-12-09T06:38:36Z- waiting for 1607495915.71, time is 1607495916.39 2020-12-09T06:38:36Z- sync is 0.04, coherence is 2.00 2020-12-09T06:38:36Z- LcmTrn::updateTrn() >>>> pose time 1607495916.35, meas time 1607495916.39 <<<< 2020-12-09T06:38:36Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495916.39 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:38:36Z- TerrainNav::motionUpdate() - currEstimate = (4061662, 594245.37, 50.61) 2020-12-09T06:38:36Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:38:36Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:38:36Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:38:36Z- TNavBF::mmse selected from filter -1 2020-12-09T06:38:36Z- variances([0], [2], and psi_berg) = 793.194113 833.089201 0.000000 2020-12-09T06:38:36Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:38:36Z- LcmTrn::cycle() - MLE : 4061634.21 594202.87 50.61 2020-12-09T06:38:36Z- LcmTrn::cycle() - MMSE : 4061661.71 594245.37 50.61 2020-12-09T06:38:36Z- LcmTrn::cycle() - COVAR: 793.19 833.09 49.85 0.00 2020-12-09T06:38:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495916.41 epoch sec; seqNo:1329; 4061661.71 north; 594245.37 east 2020-12-09T06:38:36Z- waiting for 1607495919.39, time is 1607495916.39 2020-12-09T06:38:36Z- sync is 0.03, coherence is 2.00 2020-12-09T06:38:36Z- AHRS_M2 msg: 1607495916.75 epoch sec; seqNo:1285 2020-12-09T06:38:36Z- AHRS_M2 msg: 4.64 phi; -0.00 theta; -0.21 psi 2020-12-09T06:38:36Z- waiting for 1607495919.39, time is 1607495916.39 2020-12-09T06:38:36Z- sync is 0.36, coherence is 2.00 2020-12-09T06:38:36Z- handleDepth()-Depth_Keller msg: 50.59 epoch sec; seqNo:1607495916770; depth 0.00 2020-12-09T06:38:36Z- waiting for 1607495919.39, time is 1607495916.39 2020-12-09T06:38:36Z- sync is 0.36, coherence is 2.00 2020-12-09T06:38:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495916.78 epoch sec; seqNo:1330; 4061661.69 north; 594244.15 east 2020-12-09T06:38:36Z- waiting for 1607495919.39, time is 1607495916.39 2020-12-09T06:38:36Z- sync is 0.40, coherence is 2.00 2020-12-09T06:38:37Z- AHRS_M2 msg: 1607495917.15 epoch sec; seqNo:1286 2020-12-09T06:38:37Z- AHRS_M2 msg: 4.64 phi; -0.00 theta; -0.21 psi 2020-12-09T06:38:37Z- waiting for 1607495919.39, time is 1607495916.39 2020-12-09T06:38:37Z- sync is 0.77, coherence is 2.00 2020-12-09T06:38:37Z- handleDepth()-Depth_Keller msg: 50.59 epoch sec; seqNo:1607495917159; depth 0.00 2020-12-09T06:38:37Z- waiting for 1607495919.39, time is 1607495916.39 2020-12-09T06:38:37Z- sync is 0.77, coherence is 2.00 2020-12-09T06:38:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495917.17 epoch sec; seqNo:1331; 4061661.69 north; 594244.15 east 2020-12-09T06:38:37Z- waiting for 1607495919.39, time is 1607495916.39 2020-12-09T06:38:37Z- sync is 0.78, coherence is 2.00 2020-12-09T06:38:37Z- AHRS_M2 msg: 1607495917.56 epoch sec; seqNo:1287 2020-12-09T06:38:37Z- AHRS_M2 msg: 4.64 phi; 0.00 theta; -0.20 psi 2020-12-09T06:38:37Z- waiting for 1607495919.39, time is 1607495916.39 2020-12-09T06:38:37Z- sync is 1.17, coherence is 2.00 2020-12-09T06:38:37Z- handleDepth()-Depth_Keller msg: 50.56 epoch sec; seqNo:1607495917562; depth 0.00 2020-12-09T06:38:37Z- waiting for 1607495919.39, time is 1607495916.39 2020-12-09T06:38:37Z- sync is 1.17, coherence is 2.00 2020-12-09T06:38:37Z- handleDvl() - RDI_Pathfinder msg: 1607495917.58 epoch sec; seqNo:737 2020-12-09T06:38:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.59 , 48.98 , 45.31 , 43.27 2020-12-09T06:38:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , 0.00 , -0.10 2020-12-09T06:38:37Z- waiting for 1607495919.39, time is 1607495917.58 2020-12-09T06:38:37Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495917.59 epoch sec; seqNo:1332; 4061661.69 north; 594244.15 east 2020-12-09T06:38:37Z- waiting for 1607495919.39, time is 1607495917.58 2020-12-09T06:38:37Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:37Z- AHRS_M2 msg: 1607495917.96 epoch sec; seqNo:1288 2020-12-09T06:38:37Z- AHRS_M2 msg: 4.64 phi; 0.00 theta; -0.20 psi 2020-12-09T06:38:37Z- waiting for 1607495919.39, time is 1607495917.58 2020-12-09T06:38:37Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:37Z- handleDepth()-Depth_Keller msg: 50.54 epoch sec; seqNo:1607495917971; depth 0.00 2020-12-09T06:38:37Z- waiting for 1607495919.39, time is 1607495917.58 2020-12-09T06:38:37Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495917.98 epoch sec; seqNo:1333; 4061661.69 north; 594244.15 east 2020-12-09T06:38:37Z- waiting for 1607495919.39, time is 1607495917.58 2020-12-09T06:38:37Z- sync is 0.41, coherence is 2.00 2020-12-09T06:38:38Z- AHRS_M2 msg: 1607495918.37 epoch sec; seqNo:1289 2020-12-09T06:38:38Z- AHRS_M2 msg: 4.64 phi; 0.01 theta; -0.20 psi 2020-12-09T06:38:38Z- waiting for 1607495919.39, time is 1607495917.58 2020-12-09T06:38:38Z- sync is 0.79, coherence is 2.00 2020-12-09T06:38:38Z- handleDepth()-Depth_Keller msg: 50.50 epoch sec; seqNo:1607495918370; depth 0.00 2020-12-09T06:38:38Z- waiting for 1607495919.39, time is 1607495917.58 2020-12-09T06:38:38Z- sync is 0.79, coherence is 2.00 2020-12-09T06:38:38Z- handleDvl() - RDI_Pathfinder msg: 1607495918.39 epoch sec; seqNo:738 2020-12-09T06:38:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.39 , 48.57 , 45.10 , 43.27 2020-12-09T06:38:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , 0.03 , -0.13 2020-12-09T06:38:38Z- waiting for 1607495919.39, time is 1607495918.39 2020-12-09T06:38:38Z- sync is 0.03, coherence is 2.00 2020-12-09T06:38:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495918.40 epoch sec; seqNo:1334; 4061661.68 north; 594242.93 east 2020-12-09T06:38:38Z- waiting for 1607495919.39, time is 1607495918.39 2020-12-09T06:38:38Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:38Z- AHRS_M2 msg: 1607495918.77 epoch sec; seqNo:1290 2020-12-09T06:38:38Z- AHRS_M2 msg: 4.65 phi; 0.01 theta; -0.20 psi 2020-12-09T06:38:38Z- waiting for 1607495919.39, time is 1607495918.39 2020-12-09T06:38:38Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:38Z- handleDepth()-Depth_Keller msg: 50.46 epoch sec; seqNo:1607495918778; depth 0.00 2020-12-09T06:38:38Z- waiting for 1607495919.39, time is 1607495918.39 2020-12-09T06:38:38Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:38Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:38Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:38Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:38Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:38:38Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:38:38Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:38:38Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:38:38Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:38:38Z- handleDvl() - RDI_Pathfinder msg: 1607495918.78 epoch sec; seqNo:739 2020-12-09T06:38:38Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:38:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , 0.03 , -0.13 2020-12-09T06:38:38Z- waiting for 1607495919.39, time is 1607495918.78 2020-12-09T06:38:38Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495918.79 epoch sec; seqNo:1335; 4061661.68 north; 594242.93 east 2020-12-09T06:38:38Z- waiting for 1607495919.39, time is 1607495918.78 2020-12-09T06:38:38Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:39Z- AHRS_M2 msg: 1607495919.18 epoch sec; seqNo:1291 2020-12-09T06:38:39Z- AHRS_M2 msg: 4.65 phi; 0.01 theta; -0.20 psi 2020-12-09T06:38:39Z- waiting for 1607495919.39, time is 1607495918.78 2020-12-09T06:38:39Z- sync is 0.40, coherence is 2.00 2020-12-09T06:38:39Z- handleDepth()-Depth_Keller msg: 50.43 epoch sec; seqNo:1607495919186; depth 0.00 2020-12-09T06:38:39Z- waiting for 1607495919.39, time is 1607495918.78 2020-12-09T06:38:39Z- sync is 0.40, coherence is 2.00 2020-12-09T06:38:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495919.20 epoch sec; seqNo:1336; 4061661.68 north; 594242.93 east 2020-12-09T06:38:39Z- waiting for 1607495919.39, time is 1607495918.78 2020-12-09T06:38:39Z- sync is 0.42, coherence is 2.00 2020-12-09T06:38:39Z- AHRS_M2 msg: 1607495919.58 epoch sec; seqNo:1292 2020-12-09T06:38:39Z- AHRS_M2 msg: 4.65 phi; 0.01 theta; -0.20 psi 2020-12-09T06:38:39Z- waiting for 1607495919.39, time is 1607495918.78 2020-12-09T06:38:39Z- sync is 0.80, coherence is 2.00 2020-12-09T06:38:39Z- handleDepth()-Depth_Keller msg: 50.40 epoch sec; seqNo:1607495919583; depth 0.00 2020-12-09T06:38:39Z- waiting for 1607495919.39, time is 1607495918.78 2020-12-09T06:38:39Z- sync is 0.80, coherence is 2.00 2020-12-09T06:38:39Z- handleDvl() - RDI_Pathfinder msg: 1607495919.60 epoch sec; seqNo:740 2020-12-09T06:38:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.39 , 48.57 , 45.10 , 43.06 2020-12-09T06:38:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.05 , -0.16 2020-12-09T06:38:39Z- waiting for 1607495919.39, time is 1607495919.60 2020-12-09T06:38:39Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:39Z- LcmTrn::updateTrn() >>>> pose time 1607495919.58, meas time 1607495919.60 <<<< 2020-12-09T06:38:39Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495919.60 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:38:39Z- TerrainNav::motionUpdate() - currEstimate = (4061662, 594242.93, 50.40) 2020-12-09T06:38:39Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:38:39Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:38:39Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:38:39Z- TNavBF::mmse selected from filter -1 2020-12-09T06:38:39Z- variances([0], [2], and psi_berg) = 793.041720 833.088918 0.000000 2020-12-09T06:38:39Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:38:39Z- LcmTrn::cycle() - MLE : 4061634.18 594200.43 50.40 2020-12-09T06:38:39Z- LcmTrn::cycle() - MMSE : 4061661.68 594242.93 50.40 2020-12-09T06:38:39Z- LcmTrn::cycle() - COVAR: 793.04 833.09 49.97 0.00 2020-12-09T06:38:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495919.61 epoch sec; seqNo:1337; 4061661.29 north; 594241.72 east 2020-12-09T06:38:39Z- waiting for 1607495922.60, time is 1607495919.60 2020-12-09T06:38:39Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:39Z- AHRS_M2 msg: 1607495919.99 epoch sec; seqNo:1293 2020-12-09T06:38:39Z- AHRS_M2 msg: 4.65 phi; 0.01 theta; -0.20 psi 2020-12-09T06:38:39Z- waiting for 1607495922.60, time is 1607495919.60 2020-12-09T06:38:39Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:39Z- handleDepth()-Depth_Keller msg: 50.38 epoch sec; seqNo:1607495919992; depth 0.00 2020-12-09T06:38:39Z- waiting for 1607495922.60, time is 1607495919.60 2020-12-09T06:38:39Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:39Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:39Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:39Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:39Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:38:39Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:38:39Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:38:39Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:38:39Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:38:39Z- handleDvl() - RDI_Pathfinder msg: 1607495920.00 epoch sec; seqNo:741 2020-12-09T06:38:39Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:38:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.05 , -0.16 2020-12-09T06:38:39Z- waiting for 1607495922.60, time is 1607495920.00 2020-12-09T06:38:39Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495920.02 epoch sec; seqNo:1338; 4061661.29 north; 594241.72 east 2020-12-09T06:38:39Z- waiting for 1607495922.60, time is 1607495920.00 2020-12-09T06:38:39Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:40Z- AHRS_M2 msg: 1607495920.39 epoch sec; seqNo:1294 2020-12-09T06:38:40Z- AHRS_M2 msg: 4.65 phi; 0.01 theta; -0.20 psi 2020-12-09T06:38:40Z- waiting for 1607495922.60, time is 1607495920.00 2020-12-09T06:38:40Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:40Z- handleDepth()-Depth_Keller msg: 50.34 epoch sec; seqNo:1607495920398; depth 0.00 2020-12-09T06:38:40Z- waiting for 1607495922.60, time is 1607495920.00 2020-12-09T06:38:40Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:40Z- handleDvl() - RDI_Pathfinder msg: 1607495920.42 epoch sec; seqNo:742 2020-12-09T06:38:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.19 , 48.78 , 45.10 , 42.65 2020-12-09T06:38:40Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.08 , -0.17 2020-12-09T06:38:40Z- waiting for 1607495922.60, time is 1607495920.42 2020-12-09T06:38:40Z- sync is 0.04, coherence is 2.00 2020-12-09T06:38:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495920.44 epoch sec; seqNo:1339; 4061661.29 north; 594241.72 east 2020-12-09T06:38:40Z- waiting for 1607495922.60, time is 1607495920.42 2020-12-09T06:38:40Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:40Z- AHRS_M2 msg: 1607495920.79 epoch sec; seqNo:1295 2020-12-09T06:38:40Z- AHRS_M2 msg: 4.65 phi; 0.02 theta; -0.20 psi 2020-12-09T06:38:40Z- waiting for 1607495922.60, time is 1607495920.42 2020-12-09T06:38:40Z- sync is 0.37, coherence is 2.00 2020-12-09T06:38:40Z- handleDepth()-Depth_Keller msg: 50.30 epoch sec; seqNo:1607495920802; depth 0.00 2020-12-09T06:38:40Z- waiting for 1607495922.60, time is 1607495920.42 2020-12-09T06:38:40Z- sync is 0.37, coherence is 2.00 2020-12-09T06:38:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495920.84 epoch sec; seqNo:1340; 4061661.27 north; 594240.50 east 2020-12-09T06:38:40Z- waiting for 1607495922.60, time is 1607495920.42 2020-12-09T06:38:40Z- sync is 0.42, coherence is 2.00 2020-12-09T06:38:41Z- handleDepth()-Depth_Keller msg: 50.28 epoch sec; seqNo:1607495921214; depth 0.00 2020-12-09T06:38:41Z- waiting for 1607495922.60, time is 1607495920.42 2020-12-09T06:38:41Z- sync is 0.42, coherence is 2.00 2020-12-09T06:38:41Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:41Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:41Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:41Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:38:41Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:38:41Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:38:41Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:38:41Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:38:41Z- handleDvl() - RDI_Pathfinder msg: 1607495921.22 epoch sec; seqNo:743 2020-12-09T06:38:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:38:41Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.08 , -0.17 2020-12-09T06:38:41Z- waiting for 1607495922.60, time is 1607495921.22 2020-12-09T06:38:41Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495921.23 epoch sec; seqNo:1341; 4061661.27 north; 594240.50 east 2020-12-09T06:38:41Z- waiting for 1607495922.60, time is 1607495921.22 2020-12-09T06:38:41Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:41Z- AHRS_M2 msg: 1607495921.60 epoch sec; seqNo:1296 2020-12-09T06:38:41Z- AHRS_M2 msg: 4.65 phi; 0.02 theta; -0.20 psi 2020-12-09T06:38:41Z- waiting for 1607495922.60, time is 1607495921.22 2020-12-09T06:38:41Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:41Z- handleDepth()-Depth_Keller msg: 50.25 epoch sec; seqNo:1607495921607; depth 0.00 2020-12-09T06:38:41Z- waiting for 1607495922.60, time is 1607495921.22 2020-12-09T06:38:41Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:41Z- handleDvl() - RDI_Pathfinder msg: 1607495921.63 epoch sec; seqNo:744 2020-12-09T06:38:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.98 , 48.78 , 44.90 , 42.65 2020-12-09T06:38:41Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , 0.10 , -0.16 2020-12-09T06:38:41Z- waiting for 1607495922.60, time is 1607495921.63 2020-12-09T06:38:41Z- sync is 0.03, coherence is 2.00 2020-12-09T06:38:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495921.64 epoch sec; seqNo:1342; 4061661.27 north; 594240.50 east 2020-12-09T06:38:41Z- waiting for 1607495922.60, time is 1607495921.63 2020-12-09T06:38:41Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:41Z- AHRS_M2 msg: 1607495922.01 epoch sec; seqNo:1297 2020-12-09T06:38:41Z- AHRS_M2 msg: 4.65 phi; 0.02 theta; -0.20 psi 2020-12-09T06:38:41Z- waiting for 1607495922.60, time is 1607495921.63 2020-12-09T06:38:41Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:41Z- handleDepth()-Depth_Keller msg: 50.24 epoch sec; seqNo:1607495922018; depth 0.00 2020-12-09T06:38:41Z- waiting for 1607495922.60, time is 1607495921.63 2020-12-09T06:38:41Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495922.03 epoch sec; seqNo:1343; 4061661.26 north; 594239.28 east 2020-12-09T06:38:41Z- waiting for 1607495922.60, time is 1607495921.63 2020-12-09T06:38:41Z- sync is 0.40, coherence is 2.00 2020-12-09T06:38:42Z- AHRS_M2 msg: 1607495922.41 epoch sec; seqNo:1298 2020-12-09T06:38:42Z- AHRS_M2 msg: 4.65 phi; 0.02 theta; -0.20 psi 2020-12-09T06:38:42Z- waiting for 1607495922.60, time is 1607495921.63 2020-12-09T06:38:42Z- sync is 0.78, coherence is 2.00 2020-12-09T06:38:42Z- handleDepth()-Depth_Keller msg: 50.20 epoch sec; seqNo:1607495922415; depth 0.00 2020-12-09T06:38:42Z- waiting for 1607495922.60, time is 1607495921.63 2020-12-09T06:38:42Z- sync is 0.78, coherence is 2.00 2020-12-09T06:38:42Z- handleDvl() - RDI_Pathfinder msg: 1607495922.43 epoch sec; seqNo:745 2020-12-09T06:38:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.98 , 48.57 , 45.10 , 42.25 2020-12-09T06:38:42Z- handleDvl() - RDI_Pathfinder msg: velocities 1.11 , 0.11 , -0.12 2020-12-09T06:38:42Z- waiting for 1607495922.60, time is 1607495922.43 2020-12-09T06:38:42Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495922.44 epoch sec; seqNo:1344; 4061661.26 north; 594239.28 east 2020-12-09T06:38:42Z- waiting for 1607495922.60, time is 1607495922.43 2020-12-09T06:38:42Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:42Z- AHRS_M2 msg: 1607495922.81 epoch sec; seqNo:1299 2020-12-09T06:38:42Z- AHRS_M2 msg: 4.65 phi; 0.02 theta; -0.20 psi 2020-12-09T06:38:42Z- waiting for 1607495922.60, time is 1607495922.43 2020-12-09T06:38:42Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:42Z- handleDepth()-Depth_Keller msg: 50.19 epoch sec; seqNo:1607495922847; depth 0.00 2020-12-09T06:38:42Z- waiting for 1607495922.60, time is 1607495922.43 2020-12-09T06:38:42Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495922.86 epoch sec; seqNo:1345; 4061661.26 north; 594239.28 east 2020-12-09T06:38:42Z- waiting for 1607495922.60, time is 1607495922.43 2020-12-09T06:38:42Z- sync is 0.43, coherence is 2.00 2020-12-09T06:38:43Z- AHRS_M2 msg: 1607495923.21 epoch sec; seqNo:1300 2020-12-09T06:38:43Z- AHRS_M2 msg: 4.64 phi; 0.02 theta; -0.20 psi 2020-12-09T06:38:43Z- waiting for 1607495922.60, time is 1607495922.43 2020-12-09T06:38:43Z- sync is 0.79, coherence is 2.00 2020-12-09T06:38:43Z- handleDepth()-Depth_Keller msg: 50.19 epoch sec; seqNo:1607495923220; depth 0.00 2020-12-09T06:38:43Z- waiting for 1607495922.60, time is 1607495922.43 2020-12-09T06:38:43Z- sync is 0.79, coherence is 2.00 2020-12-09T06:38:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495923.23 epoch sec; seqNo:1346; 4061661.25 north; 594238.05 east 2020-12-09T06:38:43Z- waiting for 1607495922.60, time is 1607495922.43 2020-12-09T06:38:43Z- sync is 0.80, coherence is 2.00 2020-12-09T06:38:43Z- AHRS_M2 msg: 1607495923.62 epoch sec; seqNo:1301 2020-12-09T06:38:43Z- AHRS_M2 msg: 4.64 phi; 0.03 theta; -0.20 psi 2020-12-09T06:38:43Z- waiting for 1607495922.60, time is 1607495922.43 2020-12-09T06:38:43Z- sync is 1.19, coherence is 2.00 2020-12-09T06:38:43Z- handleDepth()-Depth_Keller msg: 50.21 epoch sec; seqNo:1607495923630; depth 0.00 2020-12-09T06:38:43Z- waiting for 1607495922.60, time is 1607495922.43 2020-12-09T06:38:43Z- sync is 1.19, coherence is 2.00 2020-12-09T06:38:43Z- handleDvl() - RDI_Pathfinder msg: 1607495923.64 epoch sec; seqNo:746 2020-12-09T06:38:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.98 , 48.57 , 45.31 , 42.25 2020-12-09T06:38:43Z- handleDvl() - RDI_Pathfinder msg: velocities 1.12 , 0.10 , -0.06 2020-12-09T06:38:43Z- waiting for 1607495922.60, time is 1607495923.64 2020-12-09T06:38:43Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:43Z- LcmTrn::updateTrn() >>>> pose time 1607495923.62, meas time 1607495923.64 <<<< 2020-12-09T06:38:43Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495923.64 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:38:43Z- TerrainNav::motionUpdate() - currEstimate = (4061661, 594238.05, 50.21) 2020-12-09T06:38:43Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:38:43Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:38:43Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:38:43Z- TNavBF::mmse selected from filter -1 2020-12-09T06:38:43Z- variances([0], [2], and psi_berg) = 792.826536 833.088521 0.000000 2020-12-09T06:38:43Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:38:43Z- LcmTrn::cycle() - MLE : 4061633.75 594195.55 50.21 2020-12-09T06:38:43Z- LcmTrn::cycle() - MMSE : 4061661.25 594238.05 50.21 2020-12-09T06:38:43Z- LcmTrn::cycle() - COVAR: 792.83 833.09 50.22 0.00 2020-12-09T06:38:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495923.67 epoch sec; seqNo:1347; 4061661.25 north; 594238.05 east 2020-12-09T06:38:43Z- waiting for 1607495926.64, time is 1607495923.64 2020-12-09T06:38:43Z- sync is 0.03, coherence is 2.00 2020-12-09T06:38:43Z- AHRS_M2 msg: 1607495924.03 epoch sec; seqNo:1302 2020-12-09T06:38:43Z- AHRS_M2 msg: 4.64 phi; 0.03 theta; -0.20 psi 2020-12-09T06:38:43Z- waiting for 1607495926.64, time is 1607495923.64 2020-12-09T06:38:43Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:43Z- handleDepth()-Depth_Keller msg: 50.19 epoch sec; seqNo:1607495924036; depth 0.00 2020-12-09T06:38:43Z- waiting for 1607495926.64, time is 1607495923.64 2020-12-09T06:38:43Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495924.05 epoch sec; seqNo:1348; 4061661.25 north; 594238.05 east 2020-12-09T06:38:44Z- waiting for 1607495926.64, time is 1607495923.64 2020-12-09T06:38:44Z- sync is 0.41, coherence is 2.00 2020-12-09T06:38:44Z- AHRS_M2 msg: 1607495924.43 epoch sec; seqNo:1303 2020-12-09T06:38:44Z- AHRS_M2 msg: 4.64 phi; 0.03 theta; -0.20 psi 2020-12-09T06:38:44Z- waiting for 1607495926.64, time is 1607495923.64 2020-12-09T06:38:44Z- sync is 0.78, coherence is 2.00 2020-12-09T06:38:44Z- handleDepth()-Depth_Keller msg: 50.20 epoch sec; seqNo:1607495924436; depth 0.00 2020-12-09T06:38:44Z- waiting for 1607495926.64, time is 1607495923.64 2020-12-09T06:38:44Z- sync is 0.78, coherence is 2.00 2020-12-09T06:38:44Z- handleDvl() - RDI_Pathfinder msg: 1607495924.45 epoch sec; seqNo:747 2020-12-09T06:38:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.19 , 48.78 , 45.51 , 42.04 2020-12-09T06:38:44Z- handleDvl() - RDI_Pathfinder msg: velocities 1.12 , 0.09 , 0.01 2020-12-09T06:38:44Z- waiting for 1607495926.64, time is 1607495924.45 2020-12-09T06:38:44Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495924.46 epoch sec; seqNo:1349; 4061661.23 north; 594236.83 east 2020-12-09T06:38:44Z- waiting for 1607495926.64, time is 1607495924.45 2020-12-09T06:38:44Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:44Z- AHRS_M2 msg: 1607495924.83 epoch sec; seqNo:1304 2020-12-09T06:38:44Z- AHRS_M2 msg: 4.63 phi; 0.03 theta; -0.20 psi 2020-12-09T06:38:44Z- waiting for 1607495926.64, time is 1607495924.45 2020-12-09T06:38:44Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:44Z- handleDepth()-Depth_Keller msg: 50.21 epoch sec; seqNo:1607495924842; depth 0.00 2020-12-09T06:38:44Z- waiting for 1607495926.64, time is 1607495924.45 2020-12-09T06:38:44Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:44Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:44Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:44Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:44Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:38:44Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:38:44Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:38:44Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:38:44Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:38:44Z- handleDvl() - RDI_Pathfinder msg: 1607495924.84 epoch sec; seqNo:748 2020-12-09T06:38:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:38:44Z- handleDvl() - RDI_Pathfinder msg: velocities 1.12 , 0.09 , 0.01 2020-12-09T06:38:44Z- waiting for 1607495926.64, time is 1607495924.84 2020-12-09T06:38:44Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495924.87 epoch sec; seqNo:1350; 4061661.23 north; 594236.83 east 2020-12-09T06:38:44Z- waiting for 1607495926.64, time is 1607495924.84 2020-12-09T06:38:44Z- sync is 0.03, coherence is 2.00 2020-12-09T06:38:45Z- AHRS_M2 msg: 1607495925.23 epoch sec; seqNo:1305 2020-12-09T06:38:45Z- AHRS_M2 msg: 4.63 phi; 0.03 theta; -0.20 psi 2020-12-09T06:38:45Z- waiting for 1607495926.64, time is 1607495924.84 2020-12-09T06:38:45Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:45Z- handleDepth()-Depth_Keller msg: 50.22 epoch sec; seqNo:1607495925247; depth 0.00 2020-12-09T06:38:45Z- waiting for 1607495926.64, time is 1607495924.84 2020-12-09T06:38:45Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495925.29 epoch sec; seqNo:1351; 4061661.22 north; 594235.61 east 2020-12-09T06:38:45Z- waiting for 1607495926.64, time is 1607495924.84 2020-12-09T06:38:45Z- sync is 0.45, coherence is 2.00 2020-12-09T06:38:45Z- AHRS_M2 msg: 1607495925.64 epoch sec; seqNo:1306 2020-12-09T06:38:45Z- AHRS_M2 msg: 4.63 phi; 0.03 theta; -0.20 psi 2020-12-09T06:38:45Z- waiting for 1607495926.64, time is 1607495924.84 2020-12-09T06:38:45Z- sync is 0.79, coherence is 2.00 2020-12-09T06:38:45Z- handleDepth()-Depth_Keller msg: 50.25 epoch sec; seqNo:1607495925644; depth 0.00 2020-12-09T06:38:45Z- waiting for 1607495926.64, time is 1607495924.84 2020-12-09T06:38:45Z- sync is 0.79, coherence is 2.00 2020-12-09T06:38:45Z- handleDvl() - RDI_Pathfinder msg: 1607495925.66 epoch sec; seqNo:749 2020-12-09T06:38:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.19 , 49.19 , 45.92 , 42.25 2020-12-09T06:38:45Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , 0.07 , 0.08 2020-12-09T06:38:45Z- waiting for 1607495926.64, time is 1607495925.66 2020-12-09T06:38:45Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495925.67 epoch sec; seqNo:1352; 4061661.22 north; 594235.61 east 2020-12-09T06:38:45Z- waiting for 1607495926.64, time is 1607495925.66 2020-12-09T06:38:45Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:45Z- AHRS_M2 msg: 1607495926.04 epoch sec; seqNo:1307 2020-12-09T06:38:45Z- AHRS_M2 msg: 4.63 phi; 0.03 theta; -0.20 psi 2020-12-09T06:38:45Z- waiting for 1607495926.64, time is 1607495925.66 2020-12-09T06:38:45Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:46Z- handleDepth()-Depth_Keller msg: 50.27 epoch sec; seqNo:1607495926054; depth 0.00 2020-12-09T06:38:46Z- waiting for 1607495926.64, time is 1607495925.66 2020-12-09T06:38:46Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:46Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:46Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:46Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:46Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:38:46Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:38:46Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:38:46Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:38:46Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:38:46Z- handleDvl() - RDI_Pathfinder msg: 1607495926.06 epoch sec; seqNo:750 2020-12-09T06:38:46Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:38:46Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , 0.07 , 0.08 2020-12-09T06:38:46Z- waiting for 1607495926.64, time is 1607495926.06 2020-12-09T06:38:46Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495926.08 epoch sec; seqNo:1353; 4061661.22 north; 594235.61 east 2020-12-09T06:38:46Z- waiting for 1607495926.64, time is 1607495926.06 2020-12-09T06:38:46Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:46Z- AHRS_M2 msg: 1607495926.45 epoch sec; seqNo:1308 2020-12-09T06:38:46Z- AHRS_M2 msg: 4.63 phi; 0.03 theta; -0.20 psi 2020-12-09T06:38:46Z- waiting for 1607495926.64, time is 1607495926.06 2020-12-09T06:38:46Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:46Z- handleDepth()-Depth_Keller msg: 50.31 epoch sec; seqNo:1607495926470; depth 0.00 2020-12-09T06:38:46Z- waiting for 1607495926.64, time is 1607495926.06 2020-12-09T06:38:46Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:46Z- handleDvl() - RDI_Pathfinder msg: 1607495926.48 epoch sec; seqNo:751 2020-12-09T06:38:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.39 , 49.60 , 45.92 , 42.46 2020-12-09T06:38:46Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , 0.04 , 0.14 2020-12-09T06:38:46Z- waiting for 1607495926.64, time is 1607495926.48 2020-12-09T06:38:46Z- sync is 0.03, coherence is 2.00 2020-12-09T06:38:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495926.50 epoch sec; seqNo:1354; 4061661.21 north; 594234.39 east 2020-12-09T06:38:46Z- waiting for 1607495926.64, time is 1607495926.48 2020-12-09T06:38:46Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:46Z- AHRS_M2 msg: 1607495926.85 epoch sec; seqNo:1309 2020-12-09T06:38:46Z- AHRS_M2 msg: 4.62 phi; 0.03 theta; -0.20 psi 2020-12-09T06:38:46Z- waiting for 1607495926.64, time is 1607495926.48 2020-12-09T06:38:46Z- sync is 0.37, coherence is 2.00 2020-12-09T06:38:46Z- handleDepth()-Depth_Keller msg: 50.31 epoch sec; seqNo:1607495926859; depth 0.00 2020-12-09T06:38:46Z- waiting for 1607495926.64, time is 1607495926.48 2020-12-09T06:38:46Z- sync is 0.37, coherence is 2.00 2020-12-09T06:38:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495926.87 epoch sec; seqNo:1355; 4061661.21 north; 594234.39 east 2020-12-09T06:38:46Z- waiting for 1607495926.64, time is 1607495926.48 2020-12-09T06:38:46Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:47Z- AHRS_M2 msg: 1607495927.28 epoch sec; seqNo:1310 2020-12-09T06:38:47Z- AHRS_M2 msg: 4.62 phi; 0.03 theta; -0.21 psi 2020-12-09T06:38:47Z- waiting for 1607495926.64, time is 1607495926.48 2020-12-09T06:38:47Z- sync is 0.80, coherence is 2.00 2020-12-09T06:38:47Z- handleDepth()-Depth_Keller msg: 50.35 epoch sec; seqNo:1607495927285; depth 0.00 2020-12-09T06:38:47Z- waiting for 1607495926.64, time is 1607495926.48 2020-12-09T06:38:47Z- sync is 0.80, coherence is 2.00 2020-12-09T06:38:47Z- handleDvl() - RDI_Pathfinder msg: 1607495927.32 epoch sec; seqNo:752 2020-12-09T06:38:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.59 , 49.80 , 46.33 , 42.45 2020-12-09T06:38:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , 0.02 , 0.17 2020-12-09T06:38:47Z- waiting for 1607495926.64, time is 1607495927.32 2020-12-09T06:38:47Z- sync is 0.04, coherence is 2.00 2020-12-09T06:38:47Z- LcmTrn::updateTrn() >>>> pose time 1607495927.28, meas time 1607495927.32 <<<< 2020-12-09T06:38:47Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495927.32 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:38:47Z- TerrainNav::motionUpdate() - currEstimate = (4061661, 594234.39, 50.35) 2020-12-09T06:38:47Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:38:47Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:38:47Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:38:47Z- TNavBF::mmse selected from filter -1 2020-12-09T06:38:47Z- variances([0], [2], and psi_berg) = 792.641272 833.088180 0.000000 2020-12-09T06:38:47Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:38:47Z- LcmTrn::cycle() - MLE : 4061633.71 594190.89 50.35 2020-12-09T06:38:47Z- LcmTrn::cycle() - MMSE : 4061661.21 594234.39 50.35 2020-12-09T06:38:47Z- LcmTrn::cycle() - COVAR: 792.64 833.09 50.41 0.00 2020-12-09T06:38:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495927.33 epoch sec; seqNo:1356; 4061661.21 north; 594234.39 east 2020-12-09T06:38:47Z- waiting for 1607495930.32, time is 1607495927.32 2020-12-09T06:38:47Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:47Z- AHRS_M2 msg: 1607495927.66 epoch sec; seqNo:1311 2020-12-09T06:38:47Z- AHRS_M2 msg: 4.62 phi; 0.03 theta; -0.21 psi 2020-12-09T06:38:47Z- waiting for 1607495930.32, time is 1607495927.32 2020-12-09T06:38:47Z- sync is 0.34, coherence is 2.00 2020-12-09T06:38:47Z- handleDepth()-Depth_Keller msg: 50.38 epoch sec; seqNo:1607495927664; depth 0.00 2020-12-09T06:38:47Z- waiting for 1607495930.32, time is 1607495927.32 2020-12-09T06:38:47Z- sync is 0.34, coherence is 2.00 2020-12-09T06:38:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495927.68 epoch sec; seqNo:1357; 4061661.19 north; 594233.17 east 2020-12-09T06:38:47Z- waiting for 1607495930.32, time is 1607495927.32 2020-12-09T06:38:47Z- sync is 0.36, coherence is 2.00 2020-12-09T06:38:48Z- AHRS_M2 msg: 1607495928.06 epoch sec; seqNo:1312 2020-12-09T06:38:48Z- AHRS_M2 msg: 4.62 phi; 0.03 theta; -0.21 psi 2020-12-09T06:38:48Z- waiting for 1607495930.32, time is 1607495927.32 2020-12-09T06:38:48Z- sync is 0.74, coherence is 2.00 2020-12-09T06:38:48Z- handleDepth()-Depth_Keller msg: 50.40 epoch sec; seqNo:1607495928146; depth 0.00 2020-12-09T06:38:48Z- waiting for 1607495930.32, time is 1607495927.32 2020-12-09T06:38:48Z- sync is 0.74, coherence is 2.00 2020-12-09T06:38:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495928.16 epoch sec; seqNo:1358; 4061661.19 north; 594233.17 east 2020-12-09T06:38:48Z- waiting for 1607495930.32, time is 1607495927.32 2020-12-09T06:38:48Z- sync is 0.84, coherence is 2.00 2020-12-09T06:38:48Z- AHRS_M2 msg: 1607495928.46 epoch sec; seqNo:1313 2020-12-09T06:38:48Z- AHRS_M2 msg: 4.62 phi; 0.03 theta; -0.21 psi 2020-12-09T06:38:48Z- waiting for 1607495930.32, time is 1607495927.32 2020-12-09T06:38:48Z- sync is 1.15, coherence is 2.00 2020-12-09T06:38:48Z- handleDepth()-Depth_Keller msg: 50.44 epoch sec; seqNo:1607495928479; depth 0.00 2020-12-09T06:38:48Z- waiting for 1607495930.32, time is 1607495927.32 2020-12-09T06:38:48Z- sync is 1.15, coherence is 2.00 2020-12-09T06:38:48Z- handleDvl() - RDI_Pathfinder msg: 1607495928.51 epoch sec; seqNo:753 2020-12-09T06:38:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.80 , 50.21 , 46.74 , 42.65 2020-12-09T06:38:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , 0.00 , 0.17 2020-12-09T06:38:48Z- waiting for 1607495930.32, time is 1607495928.51 2020-12-09T06:38:48Z- sync is 0.05, coherence is 2.00 2020-12-09T06:38:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495928.54 epoch sec; seqNo:1359; 4061661.19 north; 594233.17 east 2020-12-09T06:38:48Z- waiting for 1607495930.32, time is 1607495928.51 2020-12-09T06:38:48Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:48Z- AHRS_M2 msg: 1607495928.88 epoch sec; seqNo:1314 2020-12-09T06:38:48Z- AHRS_M2 msg: 4.62 phi; 0.03 theta; -0.21 psi 2020-12-09T06:38:48Z- waiting for 1607495930.32, time is 1607495928.51 2020-12-09T06:38:48Z- sync is 0.36, coherence is 2.00 2020-12-09T06:38:48Z- handleDepth()-Depth_Keller msg: 50.45 epoch sec; seqNo:1607495928901; depth 0.00 2020-12-09T06:38:48Z- waiting for 1607495930.32, time is 1607495928.51 2020-12-09T06:38:48Z- sync is 0.36, coherence is 2.00 2020-12-09T06:38:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495928.93 epoch sec; seqNo:1360; 4061661.18 north; 594231.95 east 2020-12-09T06:38:48Z- waiting for 1607495930.32, time is 1607495928.51 2020-12-09T06:38:48Z- sync is 0.41, coherence is 2.00 2020-12-09T06:38:49Z- AHRS_M2 msg: 1607495929.29 epoch sec; seqNo:1315 2020-12-09T06:38:49Z- AHRS_M2 msg: 4.63 phi; 0.03 theta; -0.20 psi 2020-12-09T06:38:49Z- waiting for 1607495930.32, time is 1607495928.51 2020-12-09T06:38:49Z- sync is 0.77, coherence is 2.00 2020-12-09T06:38:49Z- handleDepth()-Depth_Keller msg: 50.48 epoch sec; seqNo:1607495929382; depth 0.00 2020-12-09T06:38:49Z- waiting for 1607495930.32, time is 1607495928.51 2020-12-09T06:38:49Z- sync is 0.77, coherence is 2.00 2020-12-09T06:38:49Z- handleDvl() - RDI_Pathfinder msg: 1607495929.39 epoch sec; seqNo:754 2020-12-09T06:38:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.41 , 50.41 , 46.94 , 42.86 2020-12-09T06:38:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.02 , 0.15 2020-12-09T06:38:49Z- waiting for 1607495930.32, time is 1607495929.39 2020-12-09T06:38:49Z- sync is 0.11, coherence is 2.00 2020-12-09T06:38:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495929.40 epoch sec; seqNo:1361; 4061661.18 north; 594231.95 east 2020-12-09T06:38:49Z- waiting for 1607495930.32, time is 1607495929.39 2020-12-09T06:38:49Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:49Z- AHRS_M2 msg: 1607495929.68 epoch sec; seqNo:1316 2020-12-09T06:38:49Z- AHRS_M2 msg: 4.63 phi; 0.03 theta; -0.20 psi 2020-12-09T06:38:49Z- waiting for 1607495930.32, time is 1607495929.39 2020-12-09T06:38:49Z- sync is 0.28, coherence is 2.00 2020-12-09T06:38:49Z- handleDepth()-Depth_Keller msg: 50.49 epoch sec; seqNo:1607495929690; depth 0.00 2020-12-09T06:38:49Z- waiting for 1607495930.32, time is 1607495929.39 2020-12-09T06:38:49Z- sync is 0.28, coherence is 2.00 2020-12-09T06:38:49Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:49Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:49Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:49Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:38:49Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:38:49Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:38:49Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:38:49Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:38:49Z- handleDvl() - RDI_Pathfinder msg: 1607495929.70 epoch sec; seqNo:755 2020-12-09T06:38:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:38:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.74 , -0.02 , 0.15 2020-12-09T06:38:49Z- waiting for 1607495930.32, time is 1607495929.70 2020-12-09T06:38:49Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495929.72 epoch sec; seqNo:1362; 4061661.18 north; 594231.95 east 2020-12-09T06:38:49Z- waiting for 1607495930.32, time is 1607495929.70 2020-12-09T06:38:49Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:50Z- AHRS_M2 msg: 1607495930.08 epoch sec; seqNo:1317 2020-12-09T06:38:50Z- AHRS_M2 msg: 4.63 phi; 0.03 theta; -0.20 psi 2020-12-09T06:38:50Z- waiting for 1607495930.32, time is 1607495929.70 2020-12-09T06:38:50Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:50Z- handleDepth()-Depth_Keller msg: 50.51 epoch sec; seqNo:1607495930106; depth 0.00 2020-12-09T06:38:50Z- waiting for 1607495930.32, time is 1607495929.70 2020-12-09T06:38:50Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495930.13 epoch sec; seqNo:1363; 4061661.18 north; 594231.95 east 2020-12-09T06:38:50Z- waiting for 1607495930.32, time is 1607495929.70 2020-12-09T06:38:50Z- sync is 0.43, coherence is 2.00 2020-12-09T06:38:50Z- AHRS_M2 msg: 1607495930.49 epoch sec; seqNo:1318 2020-12-09T06:38:50Z- AHRS_M2 msg: 4.64 phi; 0.03 theta; -0.20 psi 2020-12-09T06:38:50Z- waiting for 1607495930.32, time is 1607495929.70 2020-12-09T06:38:50Z- sync is 0.79, coherence is 2.00 2020-12-09T06:38:50Z- handleDepth()-Depth_Keller msg: 50.51 epoch sec; seqNo:1607495930502; depth 0.00 2020-12-09T06:38:50Z- waiting for 1607495930.32, time is 1607495929.70 2020-12-09T06:38:50Z- sync is 0.79, coherence is 2.00 2020-12-09T06:38:50Z- handleDvl() - RDI_Pathfinder msg: 1607495930.52 epoch sec; seqNo:756 2020-12-09T06:38:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.82 , 50.41 , 47.15 , 43.06 2020-12-09T06:38:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.66 , -0.01 , 0.12 2020-12-09T06:38:50Z- waiting for 1607495930.32, time is 1607495930.52 2020-12-09T06:38:50Z- sync is 0.03, coherence is 2.00 2020-12-09T06:38:50Z- LcmTrn::updateTrn() >>>> pose time 1607495930.49, meas time 1607495930.52 <<<< 2020-12-09T06:38:50Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495930.52 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:38:50Z- TerrainNav::motionUpdate() - currEstimate = (4061661, 594231.95, 50.51) 2020-12-09T06:38:50Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:38:50Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:38:50Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:38:50Z- TNavBF::mmse selected from filter -1 2020-12-09T06:38:50Z- variances([0], [2], and psi_berg) = 792.490571 833.087905 0.000000 2020-12-09T06:38:50Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:38:50Z- LcmTrn::cycle() - MLE : 4061633.68 594188.45 50.51 2020-12-09T06:38:50Z- LcmTrn::cycle() - MMSE : 4061661.18 594231.95 50.51 2020-12-09T06:38:50Z- LcmTrn::cycle() - COVAR: 792.49 833.09 50.53 0.00 2020-12-09T06:38:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495930.54 epoch sec; seqNo:1364; 4061661.18 north; 594231.95 east 2020-12-09T06:38:50Z- waiting for 1607495933.52, time is 1607495930.52 2020-12-09T06:38:50Z- sync is 0.03, coherence is 2.00 2020-12-09T06:38:50Z- AHRS_M2 msg: 1607495930.89 epoch sec; seqNo:1319 2020-12-09T06:38:50Z- AHRS_M2 msg: 4.64 phi; 0.03 theta; -0.19 psi 2020-12-09T06:38:50Z- waiting for 1607495933.52, time is 1607495930.52 2020-12-09T06:38:50Z- sync is 0.37, coherence is 2.00 2020-12-09T06:38:50Z- handleDepth()-Depth_Keller msg: 50.51 epoch sec; seqNo:1607495930903; depth 0.00 2020-12-09T06:38:50Z- waiting for 1607495933.52, time is 1607495930.52 2020-12-09T06:38:50Z- sync is 0.37, coherence is 2.00 2020-12-09T06:38:50Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:50Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:50Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:50Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:38:50Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:38:50Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:38:50Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:38:50Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:38:50Z- handleDvl() - RDI_Pathfinder msg: 1607495930.90 epoch sec; seqNo:757 2020-12-09T06:38:50Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:38:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.66 , -0.01 , 0.12 2020-12-09T06:38:50Z- waiting for 1607495933.52, time is 1607495930.90 2020-12-09T06:38:50Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495930.92 epoch sec; seqNo:1365; 4061661.17 north; 594230.73 east 2020-12-09T06:38:50Z- waiting for 1607495933.52, time is 1607495930.90 2020-12-09T06:38:50Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:51Z- AHRS_M2 msg: 1607495931.30 epoch sec; seqNo:1320 2020-12-09T06:38:51Z- AHRS_M2 msg: 4.65 phi; 0.03 theta; -0.19 psi 2020-12-09T06:38:51Z- waiting for 1607495933.52, time is 1607495930.90 2020-12-09T06:38:51Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:51Z- handleDepth()-Depth_Keller msg: 50.51 epoch sec; seqNo:1607495931304; depth 0.00 2020-12-09T06:38:51Z- waiting for 1607495933.52, time is 1607495930.90 2020-12-09T06:38:51Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:51Z- handleDvl() - RDI_Pathfinder msg: 1607495931.33 epoch sec; seqNo:758 2020-12-09T06:38:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.12 , 49.97 , 46.87 , 43.11 2020-12-09T06:38:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.62 , -0.01 , 0.06 2020-12-09T06:38:51Z- waiting for 1607495933.52, time is 1607495931.33 2020-12-09T06:38:51Z- sync is 0.03, coherence is 2.00 2020-12-09T06:38:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495931.34 epoch sec; seqNo:1366; 4061661.17 north; 594230.73 east 2020-12-09T06:38:51Z- waiting for 1607495933.52, time is 1607495931.33 2020-12-09T06:38:51Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:51Z- AHRS_M2 msg: 1607495931.70 epoch sec; seqNo:1321 2020-12-09T06:38:51Z- AHRS_M2 msg: 4.66 phi; 0.04 theta; -0.17 psi 2020-12-09T06:38:51Z- waiting for 1607495933.52, time is 1607495931.33 2020-12-09T06:38:51Z- sync is 0.37, coherence is 2.00 2020-12-09T06:38:51Z- handleDepth()-Depth_Keller msg: 50.51 epoch sec; seqNo:1607495931702; depth 0.00 2020-12-09T06:38:51Z- waiting for 1607495933.52, time is 1607495931.33 2020-12-09T06:38:51Z- sync is 0.37, coherence is 2.00 2020-12-09T06:38:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495931.71 epoch sec; seqNo:1367; 4061661.17 north; 594230.73 east 2020-12-09T06:38:51Z- waiting for 1607495933.52, time is 1607495931.33 2020-12-09T06:38:51Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:52Z- handleDepth()-Depth_Keller msg: 50.49 epoch sec; seqNo:1607495932130; depth 0.00 2020-12-09T06:38:52Z- waiting for 1607495933.52, time is 1607495931.33 2020-12-09T06:38:52Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495932.15 epoch sec; seqNo:1368; 4061661.17 north; 594230.73 east 2020-12-09T06:38:52Z- waiting for 1607495933.52, time is 1607495931.33 2020-12-09T06:38:52Z- sync is 0.82, coherence is 2.00 2020-12-09T06:38:52Z- AHRS_M2 msg: 1607495932.52 epoch sec; seqNo:1322 2020-12-09T06:38:52Z- AHRS_M2 msg: 4.69 phi; 0.04 theta; -0.11 psi 2020-12-09T06:38:52Z- waiting for 1607495933.52, time is 1607495931.33 2020-12-09T06:38:52Z- sync is 1.19, coherence is 2.00 2020-12-09T06:38:52Z- handleDepth()-Depth_Keller msg: 50.48 epoch sec; seqNo:1607495932521; depth 0.00 2020-12-09T06:38:52Z- waiting for 1607495933.52, time is 1607495931.33 2020-12-09T06:38:52Z- sync is 1.19, coherence is 2.00 2020-12-09T06:38:52Z- handleDvl() - RDI_Pathfinder msg: 1607495932.53 epoch sec; seqNo:759 2020-12-09T06:38:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.45 , 47.35 , 46.74 , 42.65 2020-12-09T06:38:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.61 , 0.00 , -0.01 2020-12-09T06:38:52Z- waiting for 1607495933.52, time is 1607495932.53 2020-12-09T06:38:52Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495932.55 epoch sec; seqNo:1369; 4061661.17 north; 594230.73 east 2020-12-09T06:38:52Z- waiting for 1607495933.52, time is 1607495932.53 2020-12-09T06:38:52Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:52Z- AHRS_M2 msg: 1607495932.91 epoch sec; seqNo:1323 2020-12-09T06:38:52Z- AHRS_M2 msg: 4.72 phi; 0.04 theta; -0.08 psi 2020-12-09T06:38:52Z- waiting for 1607495933.52, time is 1607495932.53 2020-12-09T06:38:52Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:52Z- handleDepth()-Depth_Keller msg: 50.45 epoch sec; seqNo:1607495932918; depth 0.00 2020-12-09T06:38:52Z- waiting for 1607495933.52, time is 1607495932.53 2020-12-09T06:38:52Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495932.94 epoch sec; seqNo:1370; 4061661.15 north; 594229.51 east 2020-12-09T06:38:52Z- waiting for 1607495933.52, time is 1607495932.53 2020-12-09T06:38:52Z- sync is 0.41, coherence is 2.00 2020-12-09T06:38:53Z- AHRS_M2 msg: 1607495933.32 epoch sec; seqNo:1324 2020-12-09T06:38:53Z- AHRS_M2 msg: 4.75 phi; 0.04 theta; -0.04 psi 2020-12-09T06:38:53Z- waiting for 1607495933.52, time is 1607495932.53 2020-12-09T06:38:53Z- sync is 0.78, coherence is 2.00 2020-12-09T06:38:53Z- handleDepth()-Depth_Keller msg: 50.43 epoch sec; seqNo:1607495933322; depth 0.00 2020-12-09T06:38:53Z- waiting for 1607495933.52, time is 1607495932.53 2020-12-09T06:38:53Z- sync is 0.78, coherence is 2.00 2020-12-09T06:38:53Z- handleDvl() - RDI_Pathfinder msg: 1607495933.34 epoch sec; seqNo:760 2020-12-09T06:38:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 44.49 , 44.90 , 46.33 , 42.25 2020-12-09T06:38:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.62 , 0.06 , -0.08 2020-12-09T06:38:53Z- waiting for 1607495933.52, time is 1607495933.34 2020-12-09T06:38:53Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495933.36 epoch sec; seqNo:1371; 4061661.15 north; 594229.51 east 2020-12-09T06:38:53Z- waiting for 1607495933.52, time is 1607495933.34 2020-12-09T06:38:53Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:53Z- AHRS_M2 msg: 1607495933.72 epoch sec; seqNo:1325 2020-12-09T06:38:53Z- AHRS_M2 msg: 4.78 phi; 0.05 theta; 0.01 psi 2020-12-09T06:38:53Z- waiting for 1607495933.52, time is 1607495933.34 2020-12-09T06:38:53Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:53Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1607495933722; depth 0.00 2020-12-09T06:38:53Z- waiting for 1607495933.52, time is 1607495933.34 2020-12-09T06:38:53Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495933.73 epoch sec; seqNo:1372; 4061661.15 north; 594229.51 east 2020-12-09T06:38:53Z- waiting for 1607495933.52, time is 1607495933.34 2020-12-09T06:38:53Z- sync is 0.40, coherence is 2.00 2020-12-09T06:38:54Z- AHRS_M2 msg: 1607495934.12 epoch sec; seqNo:1326 2020-12-09T06:38:54Z- AHRS_M2 msg: 4.82 phi; 0.05 theta; 0.07 psi 2020-12-09T06:38:54Z- waiting for 1607495933.52, time is 1607495933.34 2020-12-09T06:38:54Z- sync is 0.78, coherence is 2.00 2020-12-09T06:38:54Z- handleDepth()-Depth_Keller msg: 50.34 epoch sec; seqNo:1607495934128; depth 0.00 2020-12-09T06:38:54Z- waiting for 1607495933.52, time is 1607495933.34 2020-12-09T06:38:54Z- sync is 0.78, coherence is 2.00 2020-12-09T06:38:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495934.14 epoch sec; seqNo:1373; 4061661.15 north; 594229.51 east 2020-12-09T06:38:54Z- waiting for 1607495933.52, time is 1607495933.34 2020-12-09T06:38:54Z- sync is 0.80, coherence is 2.00 2020-12-09T06:38:54Z- AHRS_M2 msg: 1607495934.53 epoch sec; seqNo:1327 2020-12-09T06:38:54Z- AHRS_M2 msg: 4.86 phi; 0.05 theta; 0.12 psi 2020-12-09T06:38:54Z- waiting for 1607495933.52, time is 1607495933.34 2020-12-09T06:38:54Z- sync is 1.19, coherence is 2.00 2020-12-09T06:38:54Z- handleDepth()-Depth_Keller msg: 50.29 epoch sec; seqNo:1607495934538; depth 0.00 2020-12-09T06:38:54Z- waiting for 1607495933.52, time is 1607495933.34 2020-12-09T06:38:54Z- sync is 1.19, coherence is 2.00 2020-12-09T06:38:54Z- handleDvl() - RDI_Pathfinder msg: 1607495934.56 epoch sec; seqNo:761 2020-12-09T06:38:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 48.17 , 41.63 , 46.53 , 42.65 2020-12-09T06:38:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.69 , 0.10 , -0.15 2020-12-09T06:38:54Z- waiting for 1607495933.52, time is 1607495934.56 2020-12-09T06:38:54Z- sync is 0.03, coherence is 2.00 2020-12-09T06:38:54Z- LcmTrn::updateTrn() >>>> pose time 1607495934.53, meas time 1607495934.56 <<<< 2020-12-09T06:38:54Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495934.56 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:38:54Z- TerrainNav::motionUpdate() - currEstimate = (4061661, 594229.51, 50.29) 2020-12-09T06:38:54Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:38:54Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:38:54Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:38:54Z- TNavBF::mmse selected from filter -1 2020-12-09T06:38:54Z- variances([0], [2], and psi_berg) = 792.340326 833.087630 0.000000 2020-12-09T06:38:54Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:38:54Z- LcmTrn::cycle() - MLE : 4061633.65 594186.01 50.29 2020-12-09T06:38:54Z- LcmTrn::cycle() - MMSE : 4061661.15 594229.51 50.29 2020-12-09T06:38:54Z- LcmTrn::cycle() - COVAR: 792.34 833.09 50.66 0.00 2020-12-09T06:38:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495934.58 epoch sec; seqNo:1374; 4061661.14 north; 594228.29 east 2020-12-09T06:38:54Z- waiting for 1607495937.56, time is 1607495934.56 2020-12-09T06:38:54Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:54Z- AHRS_M2 msg: 1607495934.93 epoch sec; seqNo:1328 2020-12-09T06:38:54Z- AHRS_M2 msg: 4.90 phi; 0.04 theta; 0.18 psi 2020-12-09T06:38:54Z- waiting for 1607495937.56, time is 1607495934.56 2020-12-09T06:38:54Z- sync is 0.37, coherence is 2.00 2020-12-09T06:38:54Z- handleDepth()-Depth_Keller msg: 50.25 epoch sec; seqNo:1607495934935; depth 0.00 2020-12-09T06:38:54Z- waiting for 1607495937.56, time is 1607495934.56 2020-12-09T06:38:54Z- sync is 0.37, coherence is 2.00 2020-12-09T06:38:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495934.95 epoch sec; seqNo:1375; 4061661.52 north; 594228.29 east 2020-12-09T06:38:54Z- waiting for 1607495937.56, time is 1607495934.56 2020-12-09T06:38:54Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:55Z- AHRS_M2 msg: 1607495935.34 epoch sec; seqNo:1329 2020-12-09T06:38:55Z- AHRS_M2 msg: 4.95 phi; 0.04 theta; 0.23 psi 2020-12-09T06:38:55Z- waiting for 1607495937.56, time is 1607495934.56 2020-12-09T06:38:55Z- sync is 0.78, coherence is 2.00 2020-12-09T06:38:55Z- handleDepth()-Depth_Keller msg: 50.19 epoch sec; seqNo:1607495935343; depth 0.00 2020-12-09T06:38:55Z- waiting for 1607495937.56, time is 1607495934.56 2020-12-09T06:38:55Z- sync is 0.78, coherence is 2.00 2020-12-09T06:38:55Z- handleDvl() - RDI_Pathfinder msg: 1607495935.36 epoch sec; seqNo:762 2020-12-09T06:38:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 53.47 , 40.00 , 47.15 , 43.88 2020-12-09T06:38:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , 0.15 , -0.19 2020-12-09T06:38:55Z- waiting for 1607495937.56, time is 1607495935.36 2020-12-09T06:38:55Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495935.37 epoch sec; seqNo:1376; 4061661.52 north; 594228.29 east 2020-12-09T06:38:55Z- waiting for 1607495937.56, time is 1607495935.36 2020-12-09T06:38:55Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:55Z- AHRS_M2 msg: 1607495935.74 epoch sec; seqNo:1330 2020-12-09T06:38:55Z- AHRS_M2 msg: 5.00 phi; 0.04 theta; 0.27 psi 2020-12-09T06:38:55Z- waiting for 1607495937.56, time is 1607495935.36 2020-12-09T06:38:55Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:55Z- handleDepth()-Depth_Keller msg: 50.13 epoch sec; seqNo:1607495935743; depth 0.00 2020-12-09T06:38:55Z- waiting for 1607495937.56, time is 1607495935.36 2020-12-09T06:38:55Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:55Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:55Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:55Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:55Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:38:55Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:38:55Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:38:55Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:38:55Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:38:55Z- handleDvl() - RDI_Pathfinder msg: 1607495935.74 epoch sec; seqNo:763 2020-12-09T06:38:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:38:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , 0.15 , -0.19 2020-12-09T06:38:55Z- waiting for 1607495937.56, time is 1607495935.74 2020-12-09T06:38:55Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495935.76 epoch sec; seqNo:1377; 4061661.90 north; 594228.28 east 2020-12-09T06:38:55Z- waiting for 1607495937.56, time is 1607495935.74 2020-12-09T06:38:55Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:56Z- AHRS_M2 msg: 1607495936.14 epoch sec; seqNo:1331 2020-12-09T06:38:56Z- AHRS_M2 msg: 5.04 phi; 0.03 theta; 0.29 psi 2020-12-09T06:38:56Z- waiting for 1607495937.56, time is 1607495935.74 2020-12-09T06:38:56Z- sync is 0.40, coherence is 2.00 2020-12-09T06:38:56Z- handleDepth()-Depth_Keller msg: 50.08 epoch sec; seqNo:1607495936146; depth 0.00 2020-12-09T06:38:56Z- waiting for 1607495937.56, time is 1607495935.74 2020-12-09T06:38:56Z- sync is 0.40, coherence is 2.00 2020-12-09T06:38:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495936.15 epoch sec; seqNo:1378; 4061661.90 north; 594228.28 east 2020-12-09T06:38:56Z- waiting for 1607495937.56, time is 1607495935.74 2020-12-09T06:38:56Z- sync is 0.41, coherence is 2.00 2020-12-09T06:38:56Z- AHRS_M2 msg: 1607495936.55 epoch sec; seqNo:1332 2020-12-09T06:38:56Z- AHRS_M2 msg: 5.09 phi; 0.02 theta; 0.31 psi 2020-12-09T06:38:56Z- waiting for 1607495937.56, time is 1607495935.74 2020-12-09T06:38:56Z- sync is 0.80, coherence is 2.00 2020-12-09T06:38:56Z- handleDepth()-Depth_Keller msg: 50.03 epoch sec; seqNo:1607495936554; depth 0.00 2020-12-09T06:38:56Z- waiting for 1607495937.56, time is 1607495935.74 2020-12-09T06:38:56Z- sync is 0.80, coherence is 2.00 2020-12-09T06:38:56Z- handleDvl() - RDI_Pathfinder msg: 1607495936.57 epoch sec; seqNo:764 2020-12-09T06:38:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 57.49 , 39.13 , 47.31 , 44.88 2020-12-09T06:38:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.14 , -0.21 2020-12-09T06:38:56Z- waiting for 1607495937.56, time is 1607495936.57 2020-12-09T06:38:56Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495936.58 epoch sec; seqNo:1379; 4061662.26 north; 594227.06 east 2020-12-09T06:38:56Z- waiting for 1607495937.56, time is 1607495936.57 2020-12-09T06:38:56Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:56Z- AHRS_M2 msg: 1607495936.95 epoch sec; seqNo:1333 2020-12-09T06:38:56Z- AHRS_M2 msg: 5.13 phi; 0.02 theta; 0.31 psi 2020-12-09T06:38:56Z- waiting for 1607495937.56, time is 1607495936.57 2020-12-09T06:38:56Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:56Z- handleDepth()-Depth_Keller msg: 49.98 epoch sec; seqNo:1607495936956; depth 0.00 2020-12-09T06:38:56Z- waiting for 1607495937.56, time is 1607495936.57 2020-12-09T06:38:56Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:56Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:56Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:56Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:56Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:38:56Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:38:56Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:38:56Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:38:56Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:38:56Z- handleDvl() - RDI_Pathfinder msg: 1607495936.96 epoch sec; seqNo:765 2020-12-09T06:38:56Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:38:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , 0.14 , -0.21 2020-12-09T06:38:56Z- waiting for 1607495937.56, time is 1607495936.96 2020-12-09T06:38:56Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495936.97 epoch sec; seqNo:1380; 4061662.26 north; 594227.06 east 2020-12-09T06:38:56Z- waiting for 1607495937.56, time is 1607495936.96 2020-12-09T06:38:56Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:57Z- AHRS_M2 msg: 1607495937.35 epoch sec; seqNo:1334 2020-12-09T06:38:57Z- AHRS_M2 msg: 5.17 phi; 0.01 theta; 0.30 psi 2020-12-09T06:38:57Z- waiting for 1607495937.56, time is 1607495936.96 2020-12-09T06:38:57Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:57Z- handleDepth()-Depth_Keller msg: 49.93 epoch sec; seqNo:1607495937358; depth 0.00 2020-12-09T06:38:57Z- waiting for 1607495937.56, time is 1607495936.96 2020-12-09T06:38:57Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:57Z- handleDvl() - RDI_Pathfinder msg: 1607495937.38 epoch sec; seqNo:766 2020-12-09T06:38:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 55.94 , 38.91 , 46.65 , 45.33 2020-12-09T06:38:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.07 , -0.20 2020-12-09T06:38:57Z- waiting for 1607495937.56, time is 1607495937.38 2020-12-09T06:38:57Z- sync is 0.03, coherence is 2.00 2020-12-09T06:38:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495937.39 epoch sec; seqNo:1381; 4061662.64 north; 594227.06 east 2020-12-09T06:38:57Z- waiting for 1607495937.56, time is 1607495937.38 2020-12-09T06:38:57Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:57Z- AHRS_M2 msg: 1607495937.76 epoch sec; seqNo:1335 2020-12-09T06:38:57Z- AHRS_M2 msg: 5.21 phi; 0.01 theta; 0.29 psi 2020-12-09T06:38:57Z- waiting for 1607495937.56, time is 1607495937.38 2020-12-09T06:38:57Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:57Z- handleDepth()-Depth_Keller msg: 49.90 epoch sec; seqNo:1607495937762; depth 0.00 2020-12-09T06:38:57Z- waiting for 1607495937.56, time is 1607495937.38 2020-12-09T06:38:57Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495937.77 epoch sec; seqNo:1382; 4061662.64 north; 594227.06 east 2020-12-09T06:38:57Z- waiting for 1607495937.56, time is 1607495937.38 2020-12-09T06:38:57Z- sync is 0.40, coherence is 2.00 2020-12-09T06:38:58Z- AHRS_M2 msg: 1607495938.17 epoch sec; seqNo:1336 2020-12-09T06:38:58Z- AHRS_M2 msg: 5.25 phi; 0.00 theta; 0.28 psi 2020-12-09T06:38:58Z- waiting for 1607495937.56, time is 1607495937.38 2020-12-09T06:38:58Z- sync is 0.79, coherence is 2.00 2020-12-09T06:38:58Z- handleDepth()-Depth_Keller msg: 49.88 epoch sec; seqNo:1607495938171; depth 0.00 2020-12-09T06:38:58Z- waiting for 1607495937.56, time is 1607495937.38 2020-12-09T06:38:58Z- sync is 0.79, coherence is 2.00 2020-12-09T06:38:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:38:58Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:38:58Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:38:58Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:38:58Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:38:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:38:58Z- handleDvl() - RDI_Pathfinder msg: 1607495938.17 epoch sec; seqNo:767 2020-12-09T06:38:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:38:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , 0.07 , -0.20 2020-12-09T06:38:58Z- waiting for 1607495937.56, time is 1607495938.17 2020-12-09T06:38:58Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:58Z- LcmTrn::updateTrn() >>>> pose time 1607495938.17, meas time 1607495938.17 <<<< 2020-12-09T06:38:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495938.17, ping # 0. 2020-12-09T06:38:58Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495938.17 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:38:58Z- TerrainNav::motionUpdate() - currEstimate = (4061663, 594227.06, 49.88) 2020-12-09T06:38:58Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:38:58Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:38:58Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:38:58Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:38:58Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:38:58Z- TNavBF::mmse selected from filter -1 2020-12-09T06:38:58Z- variances([0], [2], and psi_berg) = 792.177809 833.087335 0.000000 2020-12-09T06:38:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:38:58Z- LcmTrn::cycle() - MLE : 4061635.14 594183.56 49.88 2020-12-09T06:38:58Z- LcmTrn::cycle() - MMSE : 4061662.64 594227.06 49.88 2020-12-09T06:38:58Z- LcmTrn::cycle() - COVAR: 792.18 833.09 50.81 0.00 2020-12-09T06:38:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495938.18 epoch sec; seqNo:1383; 4061663.01 north; 594225.83 east 2020-12-09T06:38:58Z- waiting for 1607495941.17, time is 1607495938.17 2020-12-09T06:38:58Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:58Z- AHRS_M2 msg: 1607495938.57 epoch sec; seqNo:1337 2020-12-09T06:38:58Z- AHRS_M2 msg: 5.28 phi; -0.00 theta; 0.26 psi 2020-12-09T06:38:58Z- waiting for 1607495941.17, time is 1607495938.17 2020-12-09T06:38:58Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:58Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1607495938589; depth 0.00 2020-12-09T06:38:58Z- waiting for 1607495941.17, time is 1607495938.17 2020-12-09T06:38:58Z- sync is 0.39, coherence is 2.00 2020-12-09T06:38:58Z- handleDvl() - RDI_Pathfinder msg: 1607495938.60 epoch sec; seqNo:768 2020-12-09T06:38:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 53.73 , 38.69 , 45.77 , 44.88 2020-12-09T06:38:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , -0.04 , -0.16 2020-12-09T06:38:58Z- waiting for 1607495941.17, time is 1607495938.60 2020-12-09T06:38:58Z- sync is 0.04, coherence is 2.00 2020-12-09T06:38:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495938.62 epoch sec; seqNo:1384; 4061663.38 north; 594225.83 east 2020-12-09T06:38:58Z- waiting for 1607495941.17, time is 1607495938.60 2020-12-09T06:38:58Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:58Z- AHRS_M2 msg: 1607495938.97 epoch sec; seqNo:1338 2020-12-09T06:38:58Z- AHRS_M2 msg: 5.32 phi; -0.01 theta; 0.24 psi 2020-12-09T06:38:58Z- waiting for 1607495941.17, time is 1607495938.60 2020-12-09T06:38:58Z- sync is 0.37, coherence is 2.00 2020-12-09T06:38:58Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1607495938985; depth 0.00 2020-12-09T06:38:58Z- waiting for 1607495941.17, time is 1607495938.60 2020-12-09T06:38:58Z- sync is 0.37, coherence is 2.00 2020-12-09T06:38:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495939.01 epoch sec; seqNo:1385; 4061663.38 north; 594225.83 east 2020-12-09T06:38:58Z- waiting for 1607495941.17, time is 1607495938.60 2020-12-09T06:38:58Z- sync is 0.40, coherence is 2.00 2020-12-09T06:38:59Z- AHRS_M2 msg: 1607495939.38 epoch sec; seqNo:1339 2020-12-09T06:38:59Z- AHRS_M2 msg: 5.39 phi; -0.01 theta; 0.22 psi 2020-12-09T06:38:59Z- waiting for 1607495941.17, time is 1607495938.60 2020-12-09T06:38:59Z- sync is 0.78, coherence is 2.00 2020-12-09T06:38:59Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1607495939384; depth 0.00 2020-12-09T06:38:59Z- waiting for 1607495941.17, time is 1607495938.60 2020-12-09T06:38:59Z- sync is 0.78, coherence is 2.00 2020-12-09T06:38:59Z- handleDvl() - RDI_Pathfinder msg: 1607495939.40 epoch sec; seqNo:769 2020-12-09T06:38:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.18 , 39.13 , 45.33 , 44.44 2020-12-09T06:38:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.13 , -0.12 , -0.08 2020-12-09T06:38:59Z- waiting for 1607495941.17, time is 1607495939.40 2020-12-09T06:38:59Z- sync is 0.02, coherence is 2.00 2020-12-09T06:38:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495939.41 epoch sec; seqNo:1386; 4061663.75 north; 594224.60 east 2020-12-09T06:38:59Z- waiting for 1607495941.17, time is 1607495939.40 2020-12-09T06:38:59Z- sync is 0.01, coherence is 2.00 2020-12-09T06:38:59Z- AHRS_M2 msg: 1607495939.78 epoch sec; seqNo:1340 2020-12-09T06:38:59Z- AHRS_M2 msg: 5.43 phi; -0.01 theta; 0.21 psi 2020-12-09T06:38:59Z- waiting for 1607495941.17, time is 1607495939.40 2020-12-09T06:38:59Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:59Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1607495939786; depth 0.00 2020-12-09T06:38:59Z- waiting for 1607495941.17, time is 1607495939.40 2020-12-09T06:38:59Z- sync is 0.38, coherence is 2.00 2020-12-09T06:38:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495939.80 epoch sec; seqNo:1387; 4061664.13 north; 594224.60 east 2020-12-09T06:38:59Z- waiting for 1607495941.17, time is 1607495939.40 2020-12-09T06:38:59Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:00Z- AHRS_M2 msg: 1607495940.18 epoch sec; seqNo:1341 2020-12-09T06:39:00Z- AHRS_M2 msg: 5.47 phi; -0.01 theta; 0.21 psi 2020-12-09T06:39:00Z- waiting for 1607495941.17, time is 1607495939.40 2020-12-09T06:39:00Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:00Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1607495940198; depth 0.00 2020-12-09T06:39:00Z- waiting for 1607495941.17, time is 1607495939.40 2020-12-09T06:39:00Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495940.21 epoch sec; seqNo:1388; 4061664.13 north; 594224.60 east 2020-12-09T06:39:00Z- waiting for 1607495941.17, time is 1607495939.40 2020-12-09T06:39:00Z- sync is 0.81, coherence is 2.00 2020-12-09T06:39:00Z- AHRS_M2 msg: 1607495940.59 epoch sec; seqNo:1342 2020-12-09T06:39:00Z- AHRS_M2 msg: 5.50 phi; -0.01 theta; 0.22 psi 2020-12-09T06:39:00Z- waiting for 1607495941.17, time is 1607495939.40 2020-12-09T06:39:00Z- sync is 1.19, coherence is 2.00 2020-12-09T06:39:00Z- handleDepth()-Depth_Keller msg: 49.85 epoch sec; seqNo:1607495940594; depth 0.00 2020-12-09T06:39:00Z- waiting for 1607495941.17, time is 1607495939.40 2020-12-09T06:39:00Z- sync is 1.19, coherence is 2.00 2020-12-09T06:39:00Z- handleDvl() - RDI_Pathfinder msg: 1607495940.61 epoch sec; seqNo:770 2020-12-09T06:39:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.84 , 39.19 , 45.31 , 44.90 2020-12-09T06:39:00Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , -0.18 , 0.01 2020-12-09T06:39:00Z- waiting for 1607495941.17, time is 1607495940.61 2020-12-09T06:39:00Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495940.63 epoch sec; seqNo:1389; 4061664.49 north; 594223.37 east 2020-12-09T06:39:00Z- waiting for 1607495941.17, time is 1607495940.61 2020-12-09T06:39:00Z- sync is 0.03, coherence is 2.00 2020-12-09T06:39:00Z- AHRS_M2 msg: 1607495940.99 epoch sec; seqNo:1343 2020-12-09T06:39:00Z- AHRS_M2 msg: 5.54 phi; -0.01 theta; 0.21 psi 2020-12-09T06:39:00Z- waiting for 1607495941.17, time is 1607495940.61 2020-12-09T06:39:00Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:01Z- handleDepth()-Depth_Keller msg: 49.89 epoch sec; seqNo:1607495941057; depth 0.00 2020-12-09T06:39:01Z- waiting for 1607495941.17, time is 1607495940.61 2020-12-09T06:39:01Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495941.07 epoch sec; seqNo:1390; 4061664.87 north; 594223.37 east 2020-12-09T06:39:01Z- waiting for 1607495941.17, time is 1607495940.61 2020-12-09T06:39:01Z- sync is 0.47, coherence is 2.00 2020-12-09T06:39:01Z- AHRS_M2 msg: 1607495941.39 epoch sec; seqNo:1344 2020-12-09T06:39:01Z- AHRS_M2 msg: 5.58 phi; -0.01 theta; 0.22 psi 2020-12-09T06:39:01Z- waiting for 1607495941.17, time is 1607495940.61 2020-12-09T06:39:01Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:01Z- handleDepth()-Depth_Keller msg: 49.92 epoch sec; seqNo:1607495941406; depth 0.00 2020-12-09T06:39:01Z- waiting for 1607495941.17, time is 1607495940.61 2020-12-09T06:39:01Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:01Z- handleDvl() - RDI_Pathfinder msg: 1607495941.42 epoch sec; seqNo:771 2020-12-09T06:39:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.66 , 39.39 , 45.31 , 45.31 2020-12-09T06:39:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.17 , 0.10 2020-12-09T06:39:01Z- waiting for 1607495941.17, time is 1607495941.42 2020-12-09T06:39:01Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:01Z- LcmTrn::updateTrn() >>>> pose time 1607495941.39, meas time 1607495941.42 <<<< 2020-12-09T06:39:01Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495941.42 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:39:01Z- TerrainNav::motionUpdate() - currEstimate = (4061665, 594223.37, 49.92) 2020-12-09T06:39:01Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:39:01Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:39:01Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:39:01Z- TNavBF::mmse selected from filter -1 2020-12-09T06:39:01Z- variances([0], [2], and psi_berg) = 791.979408 833.086975 0.000000 2020-12-09T06:39:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:39:01Z- LcmTrn::cycle() - MLE : 4061637.37 594179.87 49.92 2020-12-09T06:39:01Z- LcmTrn::cycle() - MMSE : 4061664.87 594223.37 49.92 2020-12-09T06:39:01Z- LcmTrn::cycle() - COVAR: 791.98 833.09 51.02 0.00 2020-12-09T06:39:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495941.43 epoch sec; seqNo:1391; 4061665.25 north; 594223.37 east 2020-12-09T06:39:01Z- waiting for 1607495944.42, time is 1607495941.42 2020-12-09T06:39:01Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:01Z- AHRS_M2 msg: 1607495941.80 epoch sec; seqNo:1345 2020-12-09T06:39:01Z- AHRS_M2 msg: 5.61 phi; -0.01 theta; 0.22 psi 2020-12-09T06:39:01Z- waiting for 1607495944.42, time is 1607495941.42 2020-12-09T06:39:01Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:01Z- handleDepth()-Depth_Keller msg: 49.98 epoch sec; seqNo:1607495941818; depth 0.00 2020-12-09T06:39:01Z- waiting for 1607495944.42, time is 1607495941.42 2020-12-09T06:39:01Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:01Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:01Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:01Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:01Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:39:01Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:39:01Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:39:01Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:39:01Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:39:01Z- handleDvl() - RDI_Pathfinder msg: 1607495941.82 epoch sec; seqNo:772 2020-12-09T06:39:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:39:01Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.17 , 0.10 2020-12-09T06:39:01Z- waiting for 1607495944.42, time is 1607495941.82 2020-12-09T06:39:01Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495941.83 epoch sec; seqNo:1392; 4061665.25 north; 594223.37 east 2020-12-09T06:39:01Z- waiting for 1607495944.42, time is 1607495941.82 2020-12-09T06:39:01Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:02Z- AHRS_M2 msg: 1607495942.20 epoch sec; seqNo:1346 2020-12-09T06:39:02Z- AHRS_M2 msg: 5.65 phi; -0.01 theta; 0.22 psi 2020-12-09T06:39:02Z- waiting for 1607495944.42, time is 1607495941.82 2020-12-09T06:39:02Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:02Z- handleDepth()-Depth_Keller msg: 50.01 epoch sec; seqNo:1607495942330; depth 0.00 2020-12-09T06:39:02Z- waiting for 1607495944.42, time is 1607495941.82 2020-12-09T06:39:02Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:02Z- handleDvl() - RDI_Pathfinder msg: 1607495942.35 epoch sec; seqNo:773 2020-12-09T06:39:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 53.06 , 39.36 , 45.99 , 45.55 2020-12-09T06:39:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.12 , 0.17 2020-12-09T06:39:02Z- waiting for 1607495944.42, time is 1607495942.35 2020-12-09T06:39:02Z- sync is 0.15, coherence is 2.00 2020-12-09T06:39:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495942.36 epoch sec; seqNo:1393; 4061665.62 north; 594222.14 east 2020-12-09T06:39:02Z- waiting for 1607495944.42, time is 1607495942.35 2020-12-09T06:39:02Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:02Z- AHRS_M2 msg: 1607495942.61 epoch sec; seqNo:1347 2020-12-09T06:39:02Z- AHRS_M2 msg: 5.69 phi; -0.01 theta; 0.23 psi 2020-12-09T06:39:02Z- waiting for 1607495944.42, time is 1607495942.35 2020-12-09T06:39:02Z- sync is 0.26, coherence is 2.00 2020-12-09T06:39:02Z- handleDepth()-Depth_Keller msg: 50.07 epoch sec; seqNo:1607495942625; depth 0.00 2020-12-09T06:39:02Z- waiting for 1607495944.42, time is 1607495942.35 2020-12-09T06:39:02Z- sync is 0.26, coherence is 2.00 2020-12-09T06:39:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495942.64 epoch sec; seqNo:1394; 4061666.00 north; 594222.14 east 2020-12-09T06:39:02Z- waiting for 1607495944.42, time is 1607495942.35 2020-12-09T06:39:02Z- sync is 0.29, coherence is 2.00 2020-12-09T06:39:02Z- AHRS_M2 msg: 1607495943.01 epoch sec; seqNo:1348 2020-12-09T06:39:02Z- AHRS_M2 msg: 5.73 phi; -0.01 theta; 0.23 psi 2020-12-09T06:39:02Z- waiting for 1607495944.42, time is 1607495942.35 2020-12-09T06:39:02Z- sync is 0.66, coherence is 2.00 2020-12-09T06:39:02Z- handleDepth()-Depth_Keller msg: 50.11 epoch sec; seqNo:1607495943014; depth 0.00 2020-12-09T06:39:02Z- waiting for 1607495944.42, time is 1607495942.35 2020-12-09T06:39:02Z- sync is 0.66, coherence is 2.00 2020-12-09T06:39:02Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:02Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:02Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:02Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:39:02Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:39:02Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:39:02Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:39:02Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:39:02Z- handleDvl() - RDI_Pathfinder msg: 1607495943.02 epoch sec; seqNo:774 2020-12-09T06:39:02Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:39:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.12 , 0.17 2020-12-09T06:39:02Z- waiting for 1607495944.42, time is 1607495943.02 2020-12-09T06:39:02Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495943.03 epoch sec; seqNo:1395; 4061666.00 north; 594222.14 east 2020-12-09T06:39:02Z- waiting for 1607495944.42, time is 1607495943.02 2020-12-09T06:39:02Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:03Z- AHRS_M2 msg: 1607495943.41 epoch sec; seqNo:1349 2020-12-09T06:39:03Z- AHRS_M2 msg: 5.77 phi; -0.01 theta; 0.23 psi 2020-12-09T06:39:03Z- waiting for 1607495944.42, time is 1607495943.02 2020-12-09T06:39:03Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:03Z- handleDepth()-Depth_Keller msg: 50.15 epoch sec; seqNo:1607495943418; depth 0.00 2020-12-09T06:39:03Z- waiting for 1607495944.42, time is 1607495943.02 2020-12-09T06:39:03Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:03Z- handleDvl() - RDI_Pathfinder msg: 1607495943.43 epoch sec; seqNo:775 2020-12-09T06:39:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 54.39 , 39.36 , 45.99 , 45.77 2020-12-09T06:39:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.03 , 0.22 2020-12-09T06:39:03Z- waiting for 1607495944.42, time is 1607495943.43 2020-12-09T06:39:03Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495943.45 epoch sec; seqNo:1396; 4061666.37 north; 594222.13 east 2020-12-09T06:39:03Z- waiting for 1607495944.42, time is 1607495943.43 2020-12-09T06:39:03Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:03Z- AHRS_M2 msg: 1607495943.82 epoch sec; seqNo:1350 2020-12-09T06:39:03Z- AHRS_M2 msg: 5.81 phi; -0.01 theta; 0.23 psi 2020-12-09T06:39:03Z- waiting for 1607495944.42, time is 1607495943.43 2020-12-09T06:39:03Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:03Z- handleDepth()-Depth_Keller msg: 50.20 epoch sec; seqNo:1607495943822; depth 0.00 2020-12-09T06:39:03Z- waiting for 1607495944.42, time is 1607495943.43 2020-12-09T06:39:03Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495943.84 epoch sec; seqNo:1397; 4061666.75 north; 594222.13 east 2020-12-09T06:39:03Z- waiting for 1607495944.42, time is 1607495943.43 2020-12-09T06:39:03Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:04Z- AHRS_M2 msg: 1607495944.22 epoch sec; seqNo:1351 2020-12-09T06:39:04Z- AHRS_M2 msg: 5.84 phi; -0.01 theta; 0.23 psi 2020-12-09T06:39:04Z- waiting for 1607495944.42, time is 1607495943.43 2020-12-09T06:39:04Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:04Z- handleDepth()-Depth_Keller msg: 50.26 epoch sec; seqNo:1607495944228; depth 0.00 2020-12-09T06:39:04Z- waiting for 1607495944.42, time is 1607495943.43 2020-12-09T06:39:04Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495944.24 epoch sec; seqNo:1398; 4061667.13 north; 594222.12 east 2020-12-09T06:39:04Z- waiting for 1607495944.42, time is 1607495943.43 2020-12-09T06:39:04Z- sync is 0.81, coherence is 2.00 2020-12-09T06:39:04Z- AHRS_M2 msg: 1607495944.63 epoch sec; seqNo:1352 2020-12-09T06:39:04Z- AHRS_M2 msg: 5.88 phi; -0.01 theta; 0.23 psi 2020-12-09T06:39:04Z- waiting for 1607495944.42, time is 1607495943.43 2020-12-09T06:39:04Z- sync is 1.20, coherence is 2.00 2020-12-09T06:39:04Z- handleDepth()-Depth_Keller msg: 50.30 epoch sec; seqNo:1607495944633; depth 0.00 2020-12-09T06:39:04Z- waiting for 1607495944.42, time is 1607495943.43 2020-12-09T06:39:04Z- sync is 1.20, coherence is 2.00 2020-12-09T06:39:04Z- handleDvl() - RDI_Pathfinder msg: 1607495944.66 epoch sec; seqNo:776 2020-12-09T06:39:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 54.83 , 39.58 , 46.21 , 45.99 2020-12-09T06:39:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , 0.09 , 0.22 2020-12-09T06:39:04Z- waiting for 1607495944.42, time is 1607495944.66 2020-12-09T06:39:04Z- sync is 0.03, coherence is 2.00 2020-12-09T06:39:04Z- LcmTrn::updateTrn() >>>> pose time 1607495944.63, meas time 1607495944.66 <<<< 2020-12-09T06:39:04Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495944.66 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:39:04Z- TerrainNav::motionUpdate() - currEstimate = (4061667, 594222.12, 50.30) 2020-12-09T06:39:04Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:39:04Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:39:04Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:39:04Z- TNavBF::mmse selected from filter -1 2020-12-09T06:39:04Z- variances([0], [2], and psi_berg) = 791.826507 833.086699 0.000000 2020-12-09T06:39:04Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:39:04Z- LcmTrn::cycle() - MLE : 4061639.63 594178.62 50.30 2020-12-09T06:39:04Z- LcmTrn::cycle() - MMSE : 4061667.13 594222.12 50.30 2020-12-09T06:39:04Z- LcmTrn::cycle() - COVAR: 791.83 833.09 51.16 0.00 2020-12-09T06:39:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495944.67 epoch sec; seqNo:1399; 4061667.12 north; 594220.90 east 2020-12-09T06:39:04Z- waiting for 1607495947.66, time is 1607495944.66 2020-12-09T06:39:04Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:04Z- AHRS_M2 msg: 1607495945.03 epoch sec; seqNo:1353 2020-12-09T06:39:04Z- AHRS_M2 msg: 5.92 phi; -0.01 theta; 0.23 psi 2020-12-09T06:39:04Z- waiting for 1607495947.66, time is 1607495944.66 2020-12-09T06:39:04Z- sync is 0.37, coherence is 2.00 2020-12-09T06:39:04Z- handleDepth()-Depth_Keller msg: 50.35 epoch sec; seqNo:1607495945038; depth 0.00 2020-12-09T06:39:04Z- waiting for 1607495947.66, time is 1607495944.66 2020-12-09T06:39:04Z- sync is 0.37, coherence is 2.00 2020-12-09T06:39:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495945.06 epoch sec; seqNo:1400; 4061667.50 north; 594220.90 east 2020-12-09T06:39:05Z- waiting for 1607495947.66, time is 1607495944.66 2020-12-09T06:39:05Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:05Z- AHRS_M2 msg: 1607495945.43 epoch sec; seqNo:1354 2020-12-09T06:39:05Z- AHRS_M2 msg: 5.97 phi; -0.01 theta; 0.23 psi 2020-12-09T06:39:05Z- waiting for 1607495947.66, time is 1607495944.66 2020-12-09T06:39:05Z- sync is 0.77, coherence is 2.00 2020-12-09T06:39:05Z- handleDepth()-Depth_Keller msg: 50.37 epoch sec; seqNo:1607495945437; depth 0.00 2020-12-09T06:39:05Z- waiting for 1607495947.66, time is 1607495944.66 2020-12-09T06:39:05Z- sync is 0.77, coherence is 2.00 2020-12-09T06:39:05Z- handleDvl() - RDI_Pathfinder msg: 1607495945.45 epoch sec; seqNo:777 2020-12-09T06:39:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 54.61 , 39.80 , 46.65 , 46.21 2020-12-09T06:39:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.73 , 0.22 , 0.20 2020-12-09T06:39:05Z- waiting for 1607495947.66, time is 1607495945.45 2020-12-09T06:39:05Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495945.46 epoch sec; seqNo:1401; 4061667.88 north; 594220.90 east 2020-12-09T06:39:05Z- waiting for 1607495947.66, time is 1607495945.45 2020-12-09T06:39:05Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:05Z- AHRS_M2 msg: 1607495945.84 epoch sec; seqNo:1355 2020-12-09T06:39:05Z- AHRS_M2 msg: 6.01 phi; -0.00 theta; 0.22 psi 2020-12-09T06:39:05Z- waiting for 1607495947.66, time is 1607495945.45 2020-12-09T06:39:05Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:05Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1607495945849; depth 0.00 2020-12-09T06:39:05Z- waiting for 1607495947.66, time is 1607495945.45 2020-12-09T06:39:05Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495945.86 epoch sec; seqNo:1402; 4061668.26 north; 594220.89 east 2020-12-09T06:39:05Z- waiting for 1607495947.66, time is 1607495945.45 2020-12-09T06:39:05Z- sync is 0.41, coherence is 2.00 2020-12-09T06:39:06Z- AHRS_M2 msg: 1607495946.24 epoch sec; seqNo:1356 2020-12-09T06:39:06Z- AHRS_M2 msg: 6.05 phi; -0.00 theta; 0.22 psi 2020-12-09T06:39:06Z- waiting for 1607495947.66, time is 1607495945.45 2020-12-09T06:39:06Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:06Z- handleDepth()-Depth_Keller msg: 50.45 epoch sec; seqNo:1607495946248; depth 0.00 2020-12-09T06:39:06Z- waiting for 1607495947.66, time is 1607495945.45 2020-12-09T06:39:06Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495946.30 epoch sec; seqNo:1403; 4061668.63 north; 594220.89 east 2020-12-09T06:39:06Z- waiting for 1607495947.66, time is 1607495945.45 2020-12-09T06:39:06Z- sync is 0.85, coherence is 2.00 2020-12-09T06:39:06Z- AHRS_M2 msg: 1607495946.65 epoch sec; seqNo:1357 2020-12-09T06:39:06Z- AHRS_M2 msg: 6.09 phi; -0.00 theta; 0.22 psi 2020-12-09T06:39:06Z- waiting for 1607495947.66, time is 1607495945.45 2020-12-09T06:39:06Z- sync is 1.20, coherence is 2.00 2020-12-09T06:39:06Z- handleDepth()-Depth_Keller msg: 50.47 epoch sec; seqNo:1607495946650; depth 0.00 2020-12-09T06:39:06Z- waiting for 1607495947.66, time is 1607495945.45 2020-12-09T06:39:06Z- sync is 1.20, coherence is 2.00 2020-12-09T06:39:06Z- handleDvl() - RDI_Pathfinder msg: 1607495946.66 epoch sec; seqNo:778 2020-12-09T06:39:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 54.39 , 40.02 , 46.65 , 46.21 2020-12-09T06:39:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.72 , 0.31 , 0.14 2020-12-09T06:39:06Z- waiting for 1607495947.66, time is 1607495946.66 2020-12-09T06:39:06Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495946.67 epoch sec; seqNo:1404; 4061668.63 north; 594220.89 east 2020-12-09T06:39:06Z- waiting for 1607495947.66, time is 1607495946.66 2020-12-09T06:39:06Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:07Z- AHRS_M2 msg: 1607495947.05 epoch sec; seqNo:1358 2020-12-09T06:39:07Z- AHRS_M2 msg: 6.13 phi; -0.00 theta; 0.21 psi 2020-12-09T06:39:07Z- waiting for 1607495947.66, time is 1607495946.66 2020-12-09T06:39:07Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:07Z- handleDepth()-Depth_Keller msg: 50.49 epoch sec; seqNo:1607495947055; depth 0.00 2020-12-09T06:39:07Z- waiting for 1607495947.66, time is 1607495946.66 2020-12-09T06:39:07Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495947.07 epoch sec; seqNo:1405; 4061669.01 north; 594220.88 east 2020-12-09T06:39:07Z- waiting for 1607495947.66, time is 1607495946.66 2020-12-09T06:39:07Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:07Z- AHRS_M2 msg: 1607495947.45 epoch sec; seqNo:1359 2020-12-09T06:39:07Z- AHRS_M2 msg: 6.17 phi; 0.00 theta; 0.21 psi 2020-12-09T06:39:07Z- waiting for 1607495947.66, time is 1607495946.66 2020-12-09T06:39:07Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:07Z- handleDepth()-Depth_Keller msg: 50.49 epoch sec; seqNo:1607495947458; depth 0.00 2020-12-09T06:39:07Z- waiting for 1607495947.66, time is 1607495946.66 2020-12-09T06:39:07Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:07Z- handleDvl() - RDI_Pathfinder msg: 1607495947.48 epoch sec; seqNo:779 2020-12-09T06:39:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 53.95 , 40.02 , 46.65 , 45.99 2020-12-09T06:39:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , 0.37 , 0.05 2020-12-09T06:39:07Z- waiting for 1607495947.66, time is 1607495947.48 2020-12-09T06:39:07Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495947.49 epoch sec; seqNo:1406; 4061669.39 north; 594220.88 east 2020-12-09T06:39:07Z- waiting for 1607495947.66, time is 1607495947.48 2020-12-09T06:39:07Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:07Z- AHRS_M2 msg: 1607495947.87 epoch sec; seqNo:1360 2020-12-09T06:39:07Z- AHRS_M2 msg: 6.21 phi; 0.00 theta; 0.21 psi 2020-12-09T06:39:07Z- waiting for 1607495947.66, time is 1607495947.48 2020-12-09T06:39:07Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:07Z- handleDepth()-Depth_Keller msg: 50.50 epoch sec; seqNo:1607495947890; depth 0.00 2020-12-09T06:39:07Z- waiting for 1607495947.66, time is 1607495947.48 2020-12-09T06:39:07Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:07Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:07Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:07Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:07Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:39:07Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:39:07Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:39:07Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:39:07Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:39:07Z- handleDvl() - RDI_Pathfinder msg: 1607495947.89 epoch sec; seqNo:780 2020-12-09T06:39:07Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:39:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , 0.37 , 0.05 2020-12-09T06:39:07Z- waiting for 1607495947.66, time is 1607495947.89 2020-12-09T06:39:07Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:07Z- LcmTrn::updateTrn() >>>> pose time 1607495947.87, meas time 1607495947.89 <<<< 2020-12-09T06:39:07Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495947.89, ping # 0. 2020-12-09T06:39:07Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495947.89 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:39:07Z- TerrainNav::motionUpdate() - currEstimate = (4061669, 594220.88, 50.50) 2020-12-09T06:39:07Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:39:07Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:39:07Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:39:07Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:39:07Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:39:07Z- TNavBF::mmse selected from filter -1 2020-12-09T06:39:07Z- variances([0], [2], and psi_berg) = 791.674070 833.086425 0.000000 2020-12-09T06:39:07Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:39:07Z- LcmTrn::cycle() - MLE : 4061642.89 594172.38 50.50 2020-12-09T06:39:07Z- LcmTrn::cycle() - MMSE : 4061669.39 594220.88 50.50 2020-12-09T06:39:07Z- LcmTrn::cycle() - COVAR: 791.67 833.09 51.29 0.00 2020-12-09T06:39:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495947.91 epoch sec; seqNo:1407; 4061669.78 north; 594222.09 east 2020-12-09T06:39:07Z- waiting for 1607495950.89, time is 1607495947.89 2020-12-09T06:39:07Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:08Z- AHRS_M2 msg: 1607495948.28 epoch sec; seqNo:1361 2020-12-09T06:39:08Z- AHRS_M2 msg: 6.25 phi; 0.00 theta; 0.21 psi 2020-12-09T06:39:08Z- waiting for 1607495950.89, time is 1607495947.89 2020-12-09T06:39:08Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:08Z- handleDepth()-Depth_Keller msg: 50.50 epoch sec; seqNo:1607495948293; depth 0.00 2020-12-09T06:39:08Z- waiting for 1607495950.89, time is 1607495947.89 2020-12-09T06:39:08Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:08Z- handleDvl() - RDI_Pathfinder msg: 1607495948.33 epoch sec; seqNo:781 2020-12-09T06:39:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 53.06 , 39.80 , 46.21 , 45.77 2020-12-09T06:39:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , 0.38 , -0.05 2020-12-09T06:39:08Z- waiting for 1607495950.89, time is 1607495948.33 2020-12-09T06:39:08Z- sync is 0.04, coherence is 2.00 2020-12-09T06:39:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495948.34 epoch sec; seqNo:1408; 4061670.16 north; 594222.09 east 2020-12-09T06:39:08Z- waiting for 1607495950.89, time is 1607495948.33 2020-12-09T06:39:08Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:08Z- AHRS_M2 msg: 1607495948.67 epoch sec; seqNo:1362 2020-12-09T06:39:08Z- AHRS_M2 msg: 0.01 phi; 0.01 theta; 0.21 psi 2020-12-09T06:39:08Z- waiting for 1607495950.89, time is 1607495948.33 2020-12-09T06:39:08Z- sync is 0.35, coherence is 2.00 2020-12-09T06:39:08Z- handleDepth()-Depth_Keller msg: 50.51 epoch sec; seqNo:1607495948676; depth 0.00 2020-12-09T06:39:08Z- waiting for 1607495950.89, time is 1607495948.33 2020-12-09T06:39:08Z- sync is 0.35, coherence is 2.00 2020-12-09T06:39:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495948.69 epoch sec; seqNo:1409; 4061670.54 north; 594222.09 east 2020-12-09T06:39:08Z- waiting for 1607495950.89, time is 1607495948.33 2020-12-09T06:39:08Z- sync is 0.36, coherence is 2.00 2020-12-09T06:39:09Z- AHRS_M2 msg: 1607495949.07 epoch sec; seqNo:1363 2020-12-09T06:39:09Z- AHRS_M2 msg: 0.05 phi; 0.01 theta; 0.21 psi 2020-12-09T06:39:09Z- waiting for 1607495950.89, time is 1607495948.33 2020-12-09T06:39:09Z- sync is 0.74, coherence is 2.00 2020-12-09T06:39:09Z- handleDepth()-Depth_Keller msg: 50.48 epoch sec; seqNo:1607495949073; depth 0.00 2020-12-09T06:39:09Z- waiting for 1607495950.89, time is 1607495948.33 2020-12-09T06:39:09Z- sync is 0.74, coherence is 2.00 2020-12-09T06:39:09Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:09Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:09Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:09Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:39:09Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:39:09Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:39:09Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:39:09Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:39:09Z- handleDvl() - RDI_Pathfinder msg: 1607495949.08 epoch sec; seqNo:782 2020-12-09T06:39:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:39:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , 0.38 , -0.05 2020-12-09T06:39:09Z- waiting for 1607495950.89, time is 1607495949.08 2020-12-09T06:39:09Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495949.09 epoch sec; seqNo:1410; 4061670.54 north; 594222.09 east 2020-12-09T06:39:09Z- waiting for 1607495950.89, time is 1607495949.08 2020-12-09T06:39:09Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:09Z- AHRS_M2 msg: 1607495949.47 epoch sec; seqNo:1364 2020-12-09T06:39:09Z- AHRS_M2 msg: 0.09 phi; 0.01 theta; 0.21 psi 2020-12-09T06:39:09Z- waiting for 1607495950.89, time is 1607495949.08 2020-12-09T06:39:09Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:09Z- handleDepth()-Depth_Keller msg: 50.49 epoch sec; seqNo:1607495949482; depth 0.00 2020-12-09T06:39:09Z- waiting for 1607495950.89, time is 1607495949.08 2020-12-09T06:39:09Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:09Z- handleDvl() - RDI_Pathfinder msg: 1607495949.49 epoch sec; seqNo:783 2020-12-09T06:39:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.62 , 39.80 , 45.99 , 45.55 2020-12-09T06:39:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , 0.32 , -0.14 2020-12-09T06:39:09Z- waiting for 1607495950.89, time is 1607495949.49 2020-12-09T06:39:09Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495949.52 epoch sec; seqNo:1411; 4061670.92 north; 594222.08 east 2020-12-09T06:39:09Z- waiting for 1607495950.89, time is 1607495949.49 2020-12-09T06:39:09Z- sync is 0.03, coherence is 2.00 2020-12-09T06:39:09Z- AHRS_M2 msg: 1607495949.88 epoch sec; seqNo:1365 2020-12-09T06:39:09Z- AHRS_M2 msg: 0.13 phi; 0.01 theta; 0.21 psi 2020-12-09T06:39:09Z- waiting for 1607495950.89, time is 1607495949.49 2020-12-09T06:39:09Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:09Z- handleDepth()-Depth_Keller msg: 50.45 epoch sec; seqNo:1607495949883; depth 0.00 2020-12-09T06:39:09Z- waiting for 1607495950.89, time is 1607495949.49 2020-12-09T06:39:09Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495949.89 epoch sec; seqNo:1412; 4061671.30 north; 594222.08 east 2020-12-09T06:39:09Z- waiting for 1607495950.89, time is 1607495949.49 2020-12-09T06:39:09Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:10Z- AHRS_M2 msg: 1607495950.30 epoch sec; seqNo:1366 2020-12-09T06:39:10Z- AHRS_M2 msg: 0.16 phi; 0.01 theta; 0.20 psi 2020-12-09T06:39:10Z- waiting for 1607495950.89, time is 1607495949.49 2020-12-09T06:39:10Z- sync is 0.81, coherence is 2.00 2020-12-09T06:39:10Z- handleDepth()-Depth_Keller msg: 50.44 epoch sec; seqNo:1607495950309; depth 0.00 2020-12-09T06:39:10Z- waiting for 1607495950.89, time is 1607495949.49 2020-12-09T06:39:10Z- sync is 0.81, coherence is 2.00 2020-12-09T06:39:10Z- handleDvl() - RDI_Pathfinder msg: 1607495950.32 epoch sec; seqNo:784 2020-12-09T06:39:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.40 , 39.58 , 45.55 , 45.10 2020-12-09T06:39:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , 0.18 , -0.20 2020-12-09T06:39:10Z- waiting for 1607495950.89, time is 1607495950.32 2020-12-09T06:39:10Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495950.36 epoch sec; seqNo:1413; 4061671.68 north; 594222.07 east 2020-12-09T06:39:10Z- waiting for 1607495950.89, time is 1607495950.32 2020-12-09T06:39:10Z- sync is 0.03, coherence is 2.00 2020-12-09T06:39:10Z- AHRS_M2 msg: 1607495950.68 epoch sec; seqNo:1367 2020-12-09T06:39:10Z- AHRS_M2 msg: 0.20 phi; 0.01 theta; 0.20 psi 2020-12-09T06:39:10Z- waiting for 1607495950.89, time is 1607495950.32 2020-12-09T06:39:10Z- sync is 0.36, coherence is 2.00 2020-12-09T06:39:10Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1607495950689; depth 0.00 2020-12-09T06:39:10Z- waiting for 1607495950.89, time is 1607495950.32 2020-12-09T06:39:10Z- sync is 0.36, coherence is 2.00 2020-12-09T06:39:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495950.72 epoch sec; seqNo:1414; 4061672.06 north; 594222.07 east 2020-12-09T06:39:10Z- waiting for 1607495950.89, time is 1607495950.32 2020-12-09T06:39:10Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:11Z- AHRS_M2 msg: 1607495951.09 epoch sec; seqNo:1368 2020-12-09T06:39:11Z- AHRS_M2 msg: 0.24 phi; 0.01 theta; 0.20 psi 2020-12-09T06:39:11Z- waiting for 1607495950.89, time is 1607495950.32 2020-12-09T06:39:11Z- sync is 0.77, coherence is 2.00 2020-12-09T06:39:11Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1607495951094; depth 0.00 2020-12-09T06:39:11Z- waiting for 1607495950.89, time is 1607495950.32 2020-12-09T06:39:11Z- sync is 0.77, coherence is 2.00 2020-12-09T06:39:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495951.11 epoch sec; seqNo:1415; 4061672.45 north; 594223.29 east 2020-12-09T06:39:11Z- waiting for 1607495950.89, time is 1607495950.32 2020-12-09T06:39:11Z- sync is 0.78, coherence is 2.00 2020-12-09T06:39:11Z- AHRS_M2 msg: 1607495951.50 epoch sec; seqNo:1369 2020-12-09T06:39:11Z- AHRS_M2 msg: 0.28 phi; 0.02 theta; 0.21 psi 2020-12-09T06:39:11Z- waiting for 1607495950.89, time is 1607495950.32 2020-12-09T06:39:11Z- sync is 1.18, coherence is 2.00 2020-12-09T06:39:11Z- handleDepth()-Depth_Keller msg: 50.37 epoch sec; seqNo:1607495951505; depth 0.00 2020-12-09T06:39:11Z- waiting for 1607495950.89, time is 1607495950.32 2020-12-09T06:39:11Z- sync is 1.18, coherence is 2.00 2020-12-09T06:39:11Z- handleDvl() - RDI_Pathfinder msg: 1607495951.52 epoch sec; seqNo:785 2020-12-09T06:39:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.96 , 39.58 , 45.55 , 44.88 2020-12-09T06:39:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , 0.05 , -0.22 2020-12-09T06:39:11Z- waiting for 1607495950.89, time is 1607495951.52 2020-12-09T06:39:11Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:11Z- LcmTrn::updateTrn() >>>> pose time 1607495951.50, meas time 1607495951.52 <<<< 2020-12-09T06:39:11Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495951.52 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:39:11Z- TerrainNav::motionUpdate() - currEstimate = (4061672, 594223.29, 50.37) 2020-12-09T06:39:11Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:39:11Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:39:11Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:39:11Z- TNavBF::mmse selected from filter -1 2020-12-09T06:39:11Z- variances([0], [2], and psi_berg) = 791.487420 833.086090 0.000000 2020-12-09T06:39:11Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:39:11Z- LcmTrn::cycle() - MLE : 4061645.95 594174.79 50.37 2020-12-09T06:39:11Z- LcmTrn::cycle() - MMSE : 4061672.45 594223.29 50.37 2020-12-09T06:39:11Z- LcmTrn::cycle() - COVAR: 791.49 833.09 51.49 0.00 2020-12-09T06:39:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495951.53 epoch sec; seqNo:1416; 4061672.45 north; 594223.29 east 2020-12-09T06:39:11Z- waiting for 1607495954.52, time is 1607495951.52 2020-12-09T06:39:11Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:11Z- AHRS_M2 msg: 1607495951.90 epoch sec; seqNo:1370 2020-12-09T06:39:11Z- AHRS_M2 msg: 0.32 phi; 0.02 theta; 0.20 psi 2020-12-09T06:39:11Z- waiting for 1607495954.52, time is 1607495951.52 2020-12-09T06:39:11Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:11Z- handleDepth()-Depth_Keller msg: 50.34 epoch sec; seqNo:1607495951904; depth 0.00 2020-12-09T06:39:11Z- waiting for 1607495954.52, time is 1607495951.52 2020-12-09T06:39:11Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495951.92 epoch sec; seqNo:1417; 4061672.83 north; 594223.28 east 2020-12-09T06:39:11Z- waiting for 1607495954.52, time is 1607495951.52 2020-12-09T06:39:11Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:12Z- AHRS_M2 msg: 1607495952.31 epoch sec; seqNo:1371 2020-12-09T06:39:12Z- AHRS_M2 msg: 0.35 phi; 0.02 theta; 0.20 psi 2020-12-09T06:39:12Z- waiting for 1607495954.52, time is 1607495951.52 2020-12-09T06:39:12Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:12Z- handleDepth()-Depth_Keller msg: 50.33 epoch sec; seqNo:1607495952310; depth 0.00 2020-12-09T06:39:12Z- waiting for 1607495954.52, time is 1607495951.52 2020-12-09T06:39:12Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:12Z- handleDvl() - RDI_Pathfinder msg: 1607495952.34 epoch sec; seqNo:786 2020-12-09T06:39:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.74 , 39.36 , 44.66 , 44.66 2020-12-09T06:39:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.08 , -0.19 2020-12-09T06:39:12Z- waiting for 1607495954.52, time is 1607495952.34 2020-12-09T06:39:12Z- sync is 0.03, coherence is 2.00 2020-12-09T06:39:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495952.35 epoch sec; seqNo:1418; 4061673.21 north; 594223.28 east 2020-12-09T06:39:12Z- waiting for 1607495954.52, time is 1607495952.34 2020-12-09T06:39:12Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:12Z- AHRS_M2 msg: 1607495952.70 epoch sec; seqNo:1372 2020-12-09T06:39:12Z- AHRS_M2 msg: 0.39 phi; 0.02 theta; 0.20 psi 2020-12-09T06:39:12Z- waiting for 1607495954.52, time is 1607495952.34 2020-12-09T06:39:12Z- sync is 0.37, coherence is 2.00 2020-12-09T06:39:12Z- handleDepth()-Depth_Keller msg: 50.29 epoch sec; seqNo:1607495952709; depth 0.00 2020-12-09T06:39:12Z- waiting for 1607495954.52, time is 1607495952.34 2020-12-09T06:39:12Z- sync is 0.37, coherence is 2.00 2020-12-09T06:39:12Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:12Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:12Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:12Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:39:12Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:39:12Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:39:12Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:39:12Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:39:12Z- handleDvl() - RDI_Pathfinder msg: 1607495952.71 epoch sec; seqNo:787 2020-12-09T06:39:12Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:39:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.08 , -0.19 2020-12-09T06:39:12Z- waiting for 1607495954.52, time is 1607495952.71 2020-12-09T06:39:12Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495952.72 epoch sec; seqNo:1419; 4061673.59 north; 594223.27 east 2020-12-09T06:39:12Z- waiting for 1607495954.52, time is 1607495952.71 2020-12-09T06:39:12Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:13Z- AHRS_M2 msg: 1607495953.11 epoch sec; seqNo:1373 2020-12-09T06:39:13Z- AHRS_M2 msg: 0.42 phi; 0.02 theta; 0.20 psi 2020-12-09T06:39:13Z- waiting for 1607495954.52, time is 1607495952.71 2020-12-09T06:39:13Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:13Z- handleDepth()-Depth_Keller msg: 50.28 epoch sec; seqNo:1607495953116; depth 0.00 2020-12-09T06:39:13Z- waiting for 1607495954.52, time is 1607495952.71 2020-12-09T06:39:13Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495953.13 epoch sec; seqNo:1420; 4061673.97 north; 594223.27 east 2020-12-09T06:39:13Z- waiting for 1607495954.52, time is 1607495952.71 2020-12-09T06:39:13Z- sync is 0.42, coherence is 2.00 2020-12-09T06:39:13Z- AHRS_M2 msg: 1607495953.52 epoch sec; seqNo:1374 2020-12-09T06:39:13Z- AHRS_M2 msg: 0.45 phi; 0.02 theta; 0.21 psi 2020-12-09T06:39:13Z- waiting for 1607495954.52, time is 1607495952.71 2020-12-09T06:39:13Z- sync is 0.81, coherence is 2.00 2020-12-09T06:39:13Z- handleDepth()-Depth_Keller msg: 50.25 epoch sec; seqNo:1607495953532; depth 0.00 2020-12-09T06:39:13Z- waiting for 1607495954.52, time is 1607495952.71 2020-12-09T06:39:13Z- sync is 0.81, coherence is 2.00 2020-12-09T06:39:13Z- handleDvl() - RDI_Pathfinder msg: 1607495953.54 epoch sec; seqNo:788 2020-12-09T06:39:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.84 , 39.19 , 44.70 , 44.49 2020-12-09T06:39:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.18 , -0.13 2020-12-09T06:39:13Z- waiting for 1607495954.52, time is 1607495953.54 2020-12-09T06:39:13Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495953.56 epoch sec; seqNo:1421; 4061674.34 north; 594223.27 east 2020-12-09T06:39:13Z- waiting for 1607495954.52, time is 1607495953.54 2020-12-09T06:39:13Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:13Z- AHRS_M2 msg: 1607495953.92 epoch sec; seqNo:1375 2020-12-09T06:39:13Z- AHRS_M2 msg: 0.49 phi; 0.02 theta; 0.21 psi 2020-12-09T06:39:13Z- waiting for 1607495954.52, time is 1607495953.54 2020-12-09T06:39:13Z- sync is 0.37, coherence is 2.00 2020-12-09T06:39:13Z- handleDepth()-Depth_Keller msg: 50.24 epoch sec; seqNo:1607495953926; depth 0.00 2020-12-09T06:39:13Z- waiting for 1607495954.52, time is 1607495953.54 2020-12-09T06:39:13Z- sync is 0.37, coherence is 2.00 2020-12-09T06:39:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495953.95 epoch sec; seqNo:1422; 4061674.34 north; 594223.27 east 2020-12-09T06:39:13Z- waiting for 1607495954.52, time is 1607495953.54 2020-12-09T06:39:13Z- sync is 0.41, coherence is 2.00 2020-12-09T06:39:14Z- AHRS_M2 msg: 1607495954.33 epoch sec; seqNo:1376 2020-12-09T06:39:14Z- AHRS_M2 msg: 0.52 phi; 0.02 theta; 0.20 psi 2020-12-09T06:39:14Z- waiting for 1607495954.52, time is 1607495953.54 2020-12-09T06:39:14Z- sync is 0.78, coherence is 2.00 2020-12-09T06:39:14Z- handleDepth()-Depth_Keller msg: 50.22 epoch sec; seqNo:1607495954331; depth 0.00 2020-12-09T06:39:14Z- waiting for 1607495954.52, time is 1607495953.54 2020-12-09T06:39:14Z- sync is 0.78, coherence is 2.00 2020-12-09T06:39:14Z- handleDvl() - RDI_Pathfinder msg: 1607495954.34 epoch sec; seqNo:789 2020-12-09T06:39:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.84 , 39.19 , 44.49 , 44.49 2020-12-09T06:39:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.22 , -0.05 2020-12-09T06:39:14Z- waiting for 1607495954.52, time is 1607495954.34 2020-12-09T06:39:14Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495954.36 epoch sec; seqNo:1423; 4061674.72 north; 594223.26 east 2020-12-09T06:39:14Z- waiting for 1607495954.52, time is 1607495954.34 2020-12-09T06:39:14Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:14Z- AHRS_M2 msg: 1607495954.72 epoch sec; seqNo:1377 2020-12-09T06:39:14Z- AHRS_M2 msg: 0.55 phi; 0.02 theta; 0.20 psi 2020-12-09T06:39:14Z- waiting for 1607495954.52, time is 1607495954.34 2020-12-09T06:39:14Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:14Z- handleDepth()-Depth_Keller msg: 50.23 epoch sec; seqNo:1607495954739; depth 0.00 2020-12-09T06:39:14Z- waiting for 1607495954.52, time is 1607495954.34 2020-12-09T06:39:14Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495954.75 epoch sec; seqNo:1424; 4061675.10 north; 594223.26 east 2020-12-09T06:39:14Z- waiting for 1607495954.52, time is 1607495954.34 2020-12-09T06:39:14Z- sync is 0.41, coherence is 2.00 2020-12-09T06:39:15Z- AHRS_M2 msg: 1607495955.13 epoch sec; seqNo:1378 2020-12-09T06:39:15Z- AHRS_M2 msg: 0.59 phi; 0.02 theta; 0.20 psi 2020-12-09T06:39:15Z- waiting for 1607495954.52, time is 1607495954.34 2020-12-09T06:39:15Z- sync is 0.78, coherence is 2.00 2020-12-09T06:39:15Z- handleDepth()-Depth_Keller msg: 50.22 epoch sec; seqNo:1607495955134; depth 0.00 2020-12-09T06:39:15Z- waiting for 1607495954.52, time is 1607495954.34 2020-12-09T06:39:15Z- sync is 0.78, coherence is 2.00 2020-12-09T06:39:15Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:15Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:15Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:15Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:39:15Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:39:15Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:39:15Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:39:15Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:39:15Z- handleDvl() - RDI_Pathfinder msg: 1607495955.14 epoch sec; seqNo:790 2020-12-09T06:39:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:39:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.75 , -0.22 , -0.05 2020-12-09T06:39:15Z- waiting for 1607495954.52, time is 1607495955.14 2020-12-09T06:39:15Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:15Z- LcmTrn::updateTrn() >>>> pose time 1607495955.13, meas time 1607495955.14 <<<< 2020-12-09T06:39:15Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495955.14, ping # 0. 2020-12-09T06:39:15Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495955.14 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:39:15Z- TerrainNav::motionUpdate() - currEstimate = (4061675, 594223.26, 50.22) 2020-12-09T06:39:15Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:39:15Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:39:15Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:39:15Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:39:15Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:39:15Z- TNavBF::mmse selected from filter -1 2020-12-09T06:39:15Z- variances([0], [2], and psi_berg) = 791.333907 833.085815 0.000000 2020-12-09T06:39:15Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:39:15Z- LcmTrn::cycle() - MLE : 4061648.60 594174.76 50.22 2020-12-09T06:39:15Z- LcmTrn::cycle() - MMSE : 4061675.10 594223.26 50.22 2020-12-09T06:39:15Z- LcmTrn::cycle() - COVAR: 791.33 833.09 51.62 0.00 2020-12-09T06:39:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495955.14 epoch sec; seqNo:1425; 4061675.48 north; 594223.25 east 2020-12-09T06:39:15Z- waiting for 1607495958.14, time is 1607495955.14 2020-12-09T06:39:15Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:15Z- AHRS_M2 msg: 1607495955.53 epoch sec; seqNo:1379 2020-12-09T06:39:15Z- AHRS_M2 msg: 0.62 phi; 0.02 theta; 0.20 psi 2020-12-09T06:39:15Z- waiting for 1607495958.14, time is 1607495955.14 2020-12-09T06:39:15Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:15Z- handleDepth()-Depth_Keller msg: 50.22 epoch sec; seqNo:1607495955536; depth 0.00 2020-12-09T06:39:15Z- waiting for 1607495958.14, time is 1607495955.14 2020-12-09T06:39:15Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:15Z- handleDvl() - RDI_Pathfinder msg: 1607495955.55 epoch sec; seqNo:791 2020-12-09T06:39:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.46 , 39.19 , 44.29 , 44.70 2020-12-09T06:39:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.76 , -0.22 , 0.03 2020-12-09T06:39:15Z- waiting for 1607495958.14, time is 1607495955.55 2020-12-09T06:39:15Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495955.59 epoch sec; seqNo:1426; 4061675.87 north; 594224.47 east 2020-12-09T06:39:15Z- waiting for 1607495958.14, time is 1607495955.55 2020-12-09T06:39:15Z- sync is 0.03, coherence is 2.00 2020-12-09T06:39:15Z- AHRS_M2 msg: 1607495955.94 epoch sec; seqNo:1380 2020-12-09T06:39:15Z- AHRS_M2 msg: 0.65 phi; 0.03 theta; 0.21 psi 2020-12-09T06:39:15Z- waiting for 1607495958.14, time is 1607495955.55 2020-12-09T06:39:15Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:15Z- handleDepth()-Depth_Keller msg: 50.22 epoch sec; seqNo:1607495955943; depth 0.00 2020-12-09T06:39:15Z- waiting for 1607495958.14, time is 1607495955.55 2020-12-09T06:39:15Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495955.96 epoch sec; seqNo:1427; 4061675.87 north; 594224.47 east 2020-12-09T06:39:15Z- waiting for 1607495958.14, time is 1607495955.55 2020-12-09T06:39:15Z- sync is 0.41, coherence is 2.00 2020-12-09T06:39:16Z- AHRS_M2 msg: 1607495956.34 epoch sec; seqNo:1381 2020-12-09T06:39:16Z- AHRS_M2 msg: 0.69 phi; 0.03 theta; 0.21 psi 2020-12-09T06:39:16Z- waiting for 1607495958.14, time is 1607495955.55 2020-12-09T06:39:16Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:16Z- handleDepth()-Depth_Keller msg: 50.22 epoch sec; seqNo:1607495956360; depth 0.00 2020-12-09T06:39:16Z- waiting for 1607495958.14, time is 1607495955.55 2020-12-09T06:39:16Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:16Z- handleDvl() - RDI_Pathfinder msg: 1607495956.37 epoch sec; seqNo:792 2020-12-09T06:39:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.87 , 39.39 , 44.29 , 45.11 2020-12-09T06:39:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.17 , 0.08 2020-12-09T06:39:16Z- waiting for 1607495958.14, time is 1607495956.37 2020-12-09T06:39:16Z- sync is 0.03, coherence is 2.00 2020-12-09T06:39:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495956.38 epoch sec; seqNo:1428; 4061676.25 north; 594224.46 east 2020-12-09T06:39:16Z- waiting for 1607495958.14, time is 1607495956.37 2020-12-09T06:39:16Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:16Z- AHRS_M2 msg: 1607495956.75 epoch sec; seqNo:1382 2020-12-09T06:39:16Z- AHRS_M2 msg: 0.76 phi; 0.03 theta; 0.21 psi 2020-12-09T06:39:16Z- waiting for 1607495958.14, time is 1607495956.37 2020-12-09T06:39:16Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:16Z- handleDepth()-Depth_Keller msg: 50.23 epoch sec; seqNo:1607495956755; depth 0.00 2020-12-09T06:39:16Z- waiting for 1607495958.14, time is 1607495956.37 2020-12-09T06:39:16Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495956.78 epoch sec; seqNo:1429; 4061676.63 north; 594224.46 east 2020-12-09T06:39:16Z- waiting for 1607495958.14, time is 1607495956.37 2020-12-09T06:39:16Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:17Z- AHRS_M2 msg: 1607495957.15 epoch sec; seqNo:1383 2020-12-09T06:39:17Z- AHRS_M2 msg: 0.79 phi; 0.03 theta; 0.21 psi 2020-12-09T06:39:17Z- waiting for 1607495958.14, time is 1607495956.37 2020-12-09T06:39:17Z- sync is 0.78, coherence is 2.00 2020-12-09T06:39:17Z- handleDepth()-Depth_Keller msg: 50.23 epoch sec; seqNo:1607495957157; depth 0.00 2020-12-09T06:39:17Z- waiting for 1607495958.14, time is 1607495956.37 2020-12-09T06:39:17Z- sync is 0.78, coherence is 2.00 2020-12-09T06:39:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495957.17 epoch sec; seqNo:1430; 4061676.63 north; 594224.46 east 2020-12-09T06:39:17Z- waiting for 1607495958.14, time is 1607495956.37 2020-12-09T06:39:17Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:17Z- AHRS_M2 msg: 1607495957.56 epoch sec; seqNo:1384 2020-12-09T06:39:17Z- AHRS_M2 msg: 0.83 phi; 0.03 theta; 0.21 psi 2020-12-09T06:39:17Z- waiting for 1607495958.14, time is 1607495956.37 2020-12-09T06:39:17Z- sync is 1.18, coherence is 2.00 2020-12-09T06:39:17Z- handleDepth()-Depth_Keller msg: 50.25 epoch sec; seqNo:1607495957560; depth 0.00 2020-12-09T06:39:17Z- waiting for 1607495958.14, time is 1607495956.37 2020-12-09T06:39:17Z- sync is 1.18, coherence is 2.00 2020-12-09T06:39:17Z- handleDvl() - RDI_Pathfinder msg: 1607495957.57 epoch sec; seqNo:793 2020-12-09T06:39:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 53.28 , 39.36 , 44.66 , 45.10 2020-12-09T06:39:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.09 , 0.10 2020-12-09T06:39:17Z- waiting for 1607495958.14, time is 1607495957.57 2020-12-09T06:39:17Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495957.59 epoch sec; seqNo:1431; 4061677.01 north; 594224.46 east 2020-12-09T06:39:17Z- waiting for 1607495958.14, time is 1607495957.57 2020-12-09T06:39:17Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:17Z- AHRS_M2 msg: 1607495957.96 epoch sec; seqNo:1385 2020-12-09T06:39:17Z- AHRS_M2 msg: 0.86 phi; 0.03 theta; 0.21 psi 2020-12-09T06:39:17Z- waiting for 1607495958.14, time is 1607495957.57 2020-12-09T06:39:17Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:17Z- handleDepth()-Depth_Keller msg: 50.26 epoch sec; seqNo:1607495957968; depth 0.00 2020-12-09T06:39:17Z- waiting for 1607495958.14, time is 1607495957.57 2020-12-09T06:39:17Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495957.99 epoch sec; seqNo:1432; 4061677.39 north; 594224.45 east 2020-12-09T06:39:17Z- waiting for 1607495958.14, time is 1607495957.57 2020-12-09T06:39:17Z- sync is 0.42, coherence is 2.00 2020-12-09T06:39:18Z- AHRS_M2 msg: 1607495958.36 epoch sec; seqNo:1386 2020-12-09T06:39:18Z- AHRS_M2 msg: 0.90 phi; 0.03 theta; 0.21 psi 2020-12-09T06:39:18Z- waiting for 1607495958.14, time is 1607495957.57 2020-12-09T06:39:18Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:18Z- handleDepth()-Depth_Keller msg: 50.28 epoch sec; seqNo:1607495958366; depth 0.00 2020-12-09T06:39:18Z- waiting for 1607495958.14, time is 1607495957.57 2020-12-09T06:39:18Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:18Z- handleDvl() - RDI_Pathfinder msg: 1607495958.38 epoch sec; seqNo:794 2020-12-09T06:39:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.84 , 39.36 , 44.66 , 45.10 2020-12-09T06:39:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.04 , 0.09 2020-12-09T06:39:18Z- waiting for 1607495958.14, time is 1607495958.38 2020-12-09T06:39:18Z- sync is 0.03, coherence is 2.00 2020-12-09T06:39:18Z- LcmTrn::updateTrn() >>>> pose time 1607495958.36, meas time 1607495958.38 <<<< 2020-12-09T06:39:18Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495958.38 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:39:18Z- TerrainNav::motionUpdate() - currEstimate = (4061677, 594224.45, 50.28) 2020-12-09T06:39:18Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:39:18Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:39:18Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:39:18Z- TNavBF::mmse selected from filter -1 2020-12-09T06:39:18Z- variances([0], [2], and psi_berg) = 791.182952 833.085547 0.000000 2020-12-09T06:39:18Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:39:18Z- LcmTrn::cycle() - MLE : 4061650.89 594175.95 50.28 2020-12-09T06:39:18Z- LcmTrn::cycle() - MMSE : 4061677.39 594224.45 50.28 2020-12-09T06:39:18Z- LcmTrn::cycle() - COVAR: 791.18 833.09 51.75 0.00 2020-12-09T06:39:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495958.40 epoch sec; seqNo:1433; 4061677.40 north; 594225.67 east 2020-12-09T06:39:18Z- waiting for 1607495961.38, time is 1607495958.38 2020-12-09T06:39:18Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:18Z- AHRS_M2 msg: 1607495958.77 epoch sec; seqNo:1387 2020-12-09T06:39:18Z- AHRS_M2 msg: 0.93 phi; 0.03 theta; 0.21 psi 2020-12-09T06:39:18Z- waiting for 1607495961.38, time is 1607495958.38 2020-12-09T06:39:18Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:18Z- handleDepth()-Depth_Keller msg: 50.30 epoch sec; seqNo:1607495958769; depth 0.00 2020-12-09T06:39:18Z- waiting for 1607495961.38, time is 1607495958.38 2020-12-09T06:39:18Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:18Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:18Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:18Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:18Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:39:18Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:39:18Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:39:18Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:39:18Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:39:18Z- handleDvl() - RDI_Pathfinder msg: 1607495958.77 epoch sec; seqNo:795 2020-12-09T06:39:18Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:39:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.04 , 0.09 2020-12-09T06:39:18Z- waiting for 1607495961.38, time is 1607495958.77 2020-12-09T06:39:18Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495958.78 epoch sec; seqNo:1434; 4061677.78 north; 594225.67 east 2020-12-09T06:39:18Z- waiting for 1607495961.38, time is 1607495958.77 2020-12-09T06:39:18Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:19Z- AHRS_M2 msg: 1607495959.17 epoch sec; seqNo:1388 2020-12-09T06:39:19Z- AHRS_M2 msg: 0.97 phi; 0.03 theta; 0.21 psi 2020-12-09T06:39:19Z- waiting for 1607495961.38, time is 1607495958.77 2020-12-09T06:39:19Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:19Z- handleDepth()-Depth_Keller msg: 50.31 epoch sec; seqNo:1607495959179; depth 0.00 2020-12-09T06:39:19Z- waiting for 1607495961.38, time is 1607495958.77 2020-12-09T06:39:19Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495959.19 epoch sec; seqNo:1435; 4061678.16 north; 594225.66 east 2020-12-09T06:39:19Z- waiting for 1607495961.38, time is 1607495958.77 2020-12-09T06:39:19Z- sync is 0.42, coherence is 2.00 2020-12-09T06:39:19Z- AHRS_M2 msg: 1607495959.57 epoch sec; seqNo:1389 2020-12-09T06:39:19Z- AHRS_M2 msg: 1.01 phi; 0.03 theta; 0.21 psi 2020-12-09T06:39:19Z- waiting for 1607495961.38, time is 1607495958.77 2020-12-09T06:39:19Z- sync is 0.80, coherence is 2.00 2020-12-09T06:39:19Z- handleDepth()-Depth_Keller msg: 50.32 epoch sec; seqNo:1607495959585; depth 0.00 2020-12-09T06:39:19Z- waiting for 1607495961.38, time is 1607495958.77 2020-12-09T06:39:19Z- sync is 0.80, coherence is 2.00 2020-12-09T06:39:19Z- handleDvl() - RDI_Pathfinder msg: 1607495959.60 epoch sec; seqNo:796 2020-12-09T06:39:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 53.07 , 39.58 , 44.89 , 45.11 2020-12-09T06:39:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.00 , 0.06 2020-12-09T06:39:19Z- waiting for 1607495961.38, time is 1607495959.60 2020-12-09T06:39:19Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495959.61 epoch sec; seqNo:1436; 4061678.16 north; 594225.66 east 2020-12-09T06:39:19Z- waiting for 1607495961.38, time is 1607495959.60 2020-12-09T06:39:19Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:19Z- AHRS_M2 msg: 1607495959.98 epoch sec; seqNo:1390 2020-12-09T06:39:19Z- AHRS_M2 msg: 1.05 phi; 0.03 theta; 0.21 psi 2020-12-09T06:39:19Z- waiting for 1607495961.38, time is 1607495959.60 2020-12-09T06:39:19Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:19Z- handleDepth()-Depth_Keller msg: 50.34 epoch sec; seqNo:1607495959986; depth 0.00 2020-12-09T06:39:19Z- waiting for 1607495961.38, time is 1607495959.60 2020-12-09T06:39:19Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495960.01 epoch sec; seqNo:1437; 4061678.55 north; 594226.88 east 2020-12-09T06:39:19Z- waiting for 1607495961.38, time is 1607495959.60 2020-12-09T06:39:19Z- sync is 0.42, coherence is 2.00 2020-12-09T06:39:20Z- AHRS_M2 msg: 1607495960.38 epoch sec; seqNo:1391 2020-12-09T06:39:20Z- AHRS_M2 msg: 1.09 phi; 0.03 theta; 0.21 psi 2020-12-09T06:39:20Z- waiting for 1607495961.38, time is 1607495959.60 2020-12-09T06:39:20Z- sync is 0.78, coherence is 2.00 2020-12-09T06:39:20Z- handleDepth()-Depth_Keller msg: 50.34 epoch sec; seqNo:1607495960385; depth 0.00 2020-12-09T06:39:20Z- waiting for 1607495961.38, time is 1607495959.60 2020-12-09T06:39:20Z- sync is 0.78, coherence is 2.00 2020-12-09T06:39:20Z- handleDvl() - RDI_Pathfinder msg: 1607495960.40 epoch sec; seqNo:797 2020-12-09T06:39:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 52.19 , 39.58 , 44.89 , 45.33 2020-12-09T06:39:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.01 , 0.01 2020-12-09T06:39:20Z- waiting for 1607495961.38, time is 1607495960.40 2020-12-09T06:39:20Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495960.41 epoch sec; seqNo:1438; 4061678.55 north; 594226.88 east 2020-12-09T06:39:20Z- waiting for 1607495961.38, time is 1607495960.40 2020-12-09T06:39:20Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:20Z- AHRS_M2 msg: 1607495960.79 epoch sec; seqNo:1392 2020-12-09T06:39:20Z- AHRS_M2 msg: 1.13 phi; 0.03 theta; 0.21 psi 2020-12-09T06:39:20Z- waiting for 1607495961.38, time is 1607495960.40 2020-12-09T06:39:20Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:20Z- handleDepth()-Depth_Keller msg: 50.36 epoch sec; seqNo:1607495960795; depth 0.00 2020-12-09T06:39:20Z- waiting for 1607495961.38, time is 1607495960.40 2020-12-09T06:39:20Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495960.81 epoch sec; seqNo:1439; 4061678.93 north; 594226.88 east 2020-12-09T06:39:20Z- waiting for 1607495961.38, time is 1607495960.40 2020-12-09T06:39:20Z- sync is 0.41, coherence is 2.00 2020-12-09T06:39:21Z- AHRS_M2 msg: 1607495961.19 epoch sec; seqNo:1393 2020-12-09T06:39:21Z- AHRS_M2 msg: 1.17 phi; 0.03 theta; 0.21 psi 2020-12-09T06:39:21Z- waiting for 1607495961.38, time is 1607495960.40 2020-12-09T06:39:21Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:21Z- handleDepth()-Depth_Keller msg: 50.37 epoch sec; seqNo:1607495961194; depth 0.00 2020-12-09T06:39:21Z- waiting for 1607495961.38, time is 1607495960.40 2020-12-09T06:39:21Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:21Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:21Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:21Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:21Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:39:21Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:39:21Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:39:21Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:39:21Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:39:21Z- handleDvl() - RDI_Pathfinder msg: 1607495961.20 epoch sec; seqNo:798 2020-12-09T06:39:21Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:39:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , 0.01 , 0.01 2020-12-09T06:39:21Z- waiting for 1607495961.38, time is 1607495961.20 2020-12-09T06:39:21Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495961.21 epoch sec; seqNo:1440; 4061678.94 north; 594228.10 east 2020-12-09T06:39:21Z- waiting for 1607495961.38, time is 1607495961.20 2020-12-09T06:39:21Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:21Z- AHRS_M2 msg: 1607495961.60 epoch sec; seqNo:1394 2020-12-09T06:39:21Z- AHRS_M2 msg: 1.21 phi; 0.03 theta; 0.22 psi 2020-12-09T06:39:21Z- waiting for 1607495961.38, time is 1607495961.20 2020-12-09T06:39:21Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:21Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1607495961599; depth 0.00 2020-12-09T06:39:21Z- waiting for 1607495961.38, time is 1607495961.20 2020-12-09T06:39:21Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:21Z- handleDvl() - RDI_Pathfinder msg: 1607495961.62 epoch sec; seqNo:799 2020-12-09T06:39:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.96 , 39.58 , 44.89 , 45.33 2020-12-09T06:39:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , 0.01 , -0.03 2020-12-09T06:39:21Z- waiting for 1607495961.38, time is 1607495961.62 2020-12-09T06:39:21Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:21Z- LcmTrn::updateTrn() >>>> pose time 1607495961.60, meas time 1607495961.62 <<<< 2020-12-09T06:39:21Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495961.62 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:39:21Z- TerrainNav::motionUpdate() - currEstimate = (4061679, 594228.10, 50.39) 2020-12-09T06:39:21Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:39:21Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:39:21Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:39:21Z- TNavBF::mmse selected from filter -1 2020-12-09T06:39:21Z- variances([0], [2], and psi_berg) = 790.996430 833.085215 0.000000 2020-12-09T06:39:21Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:39:21Z- LcmTrn::cycle() - MLE : 4061652.44 594179.60 50.39 2020-12-09T06:39:21Z- LcmTrn::cycle() - MMSE : 4061678.94 594228.10 50.39 2020-12-09T06:39:21Z- LcmTrn::cycle() - COVAR: 791.00 833.09 51.95 0.00 2020-12-09T06:39:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495961.63 epoch sec; seqNo:1441; 4061678.94 north; 594228.10 east 2020-12-09T06:39:21Z- waiting for 1607495964.62, time is 1607495961.62 2020-12-09T06:39:21Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:21Z- AHRS_M2 msg: 1607495962.00 epoch sec; seqNo:1395 2020-12-09T06:39:21Z- AHRS_M2 msg: 1.25 phi; 0.03 theta; 0.22 psi 2020-12-09T06:39:21Z- waiting for 1607495964.62, time is 1607495961.62 2020-12-09T06:39:21Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:21Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1607495962006; depth 0.00 2020-12-09T06:39:21Z- waiting for 1607495964.62, time is 1607495961.62 2020-12-09T06:39:21Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495962.02 epoch sec; seqNo:1442; 4061679.32 north; 594228.09 east 2020-12-09T06:39:21Z- waiting for 1607495964.62, time is 1607495961.62 2020-12-09T06:39:21Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:22Z- AHRS_M2 msg: 1607495962.40 epoch sec; seqNo:1396 2020-12-09T06:39:22Z- AHRS_M2 msg: 1.29 phi; 0.03 theta; 0.22 psi 2020-12-09T06:39:22Z- waiting for 1607495964.62, time is 1607495961.62 2020-12-09T06:39:22Z- sync is 0.78, coherence is 2.00 2020-12-09T06:39:22Z- handleDepth()-Depth_Keller msg: 50.41 epoch sec; seqNo:1607495962407; depth 0.00 2020-12-09T06:39:22Z- waiting for 1607495964.62, time is 1607495961.62 2020-12-09T06:39:22Z- sync is 0.78, coherence is 2.00 2020-12-09T06:39:22Z- handleDvl() - RDI_Pathfinder msg: 1607495962.42 epoch sec; seqNo:800 2020-12-09T06:39:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.52 , 39.36 , 44.89 , 45.11 2020-12-09T06:39:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , 0.00 , -0.06 2020-12-09T06:39:22Z- waiting for 1607495964.62, time is 1607495962.42 2020-12-09T06:39:22Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495962.43 epoch sec; seqNo:1443; 4061679.32 north; 594228.09 east 2020-12-09T06:39:22Z- waiting for 1607495964.62, time is 1607495962.42 2020-12-09T06:39:22Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:22Z- AHRS_M2 msg: 1607495962.81 epoch sec; seqNo:1397 2020-12-09T06:39:22Z- AHRS_M2 msg: 1.33 phi; 0.03 theta; 0.22 psi 2020-12-09T06:39:22Z- waiting for 1607495964.62, time is 1607495962.42 2020-12-09T06:39:22Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:22Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1607495962810; depth 0.00 2020-12-09T06:39:22Z- waiting for 1607495964.62, time is 1607495962.42 2020-12-09T06:39:22Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495962.84 epoch sec; seqNo:1444; 4061679.34 north; 594229.31 east 2020-12-09T06:39:22Z- waiting for 1607495964.62, time is 1607495962.42 2020-12-09T06:39:22Z- sync is 0.42, coherence is 2.00 2020-12-09T06:39:23Z- AHRS_M2 msg: 1607495963.21 epoch sec; seqNo:1398 2020-12-09T06:39:23Z- AHRS_M2 msg: 1.36 phi; 0.03 theta; 0.22 psi 2020-12-09T06:39:23Z- waiting for 1607495964.62, time is 1607495962.42 2020-12-09T06:39:23Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:23Z- handleDepth()-Depth_Keller msg: 50.40 epoch sec; seqNo:1607495963218; depth 0.00 2020-12-09T06:39:23Z- waiting for 1607495964.62, time is 1607495962.42 2020-12-09T06:39:23Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495963.23 epoch sec; seqNo:1445; 4061679.34 north; 594229.31 east 2020-12-09T06:39:23Z- waiting for 1607495964.62, time is 1607495962.42 2020-12-09T06:39:23Z- sync is 0.81, coherence is 2.00 2020-12-09T06:39:23Z- AHRS_M2 msg: 1607495963.61 epoch sec; seqNo:1399 2020-12-09T06:39:23Z- AHRS_M2 msg: 1.40 phi; 0.02 theta; 0.21 psi 2020-12-09T06:39:23Z- waiting for 1607495964.62, time is 1607495962.42 2020-12-09T06:39:23Z- sync is 1.19, coherence is 2.00 2020-12-09T06:39:23Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1607495963619; depth 0.00 2020-12-09T06:39:23Z- waiting for 1607495964.62, time is 1607495962.42 2020-12-09T06:39:23Z- sync is 1.19, coherence is 2.00 2020-12-09T06:39:23Z- handleDvl() - RDI_Pathfinder msg: 1607495963.63 epoch sec; seqNo:801 2020-12-09T06:39:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.23 , 39.39 , 44.70 , 45.31 2020-12-09T06:39:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.02 , -0.07 2020-12-09T06:39:23Z- waiting for 1607495964.62, time is 1607495963.63 2020-12-09T06:39:23Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495963.65 epoch sec; seqNo:1446; 4061679.72 north; 594229.31 east 2020-12-09T06:39:23Z- waiting for 1607495964.62, time is 1607495963.63 2020-12-09T06:39:23Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:23Z- AHRS_M2 msg: 1607495964.02 epoch sec; seqNo:1400 2020-12-09T06:39:23Z- AHRS_M2 msg: 1.44 phi; 0.02 theta; 0.21 psi 2020-12-09T06:39:23Z- waiting for 1607495964.62, time is 1607495963.63 2020-12-09T06:39:23Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:23Z- handleDepth()-Depth_Keller msg: 50.41 epoch sec; seqNo:1607495964037; depth 0.00 2020-12-09T06:39:23Z- waiting for 1607495964.62, time is 1607495963.63 2020-12-09T06:39:23Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495964.05 epoch sec; seqNo:1447; 4061679.73 north; 594230.53 east 2020-12-09T06:39:23Z- waiting for 1607495964.62, time is 1607495963.63 2020-12-09T06:39:23Z- sync is 0.42, coherence is 2.00 2020-12-09T06:39:24Z- AHRS_M2 msg: 1607495964.42 epoch sec; seqNo:1401 2020-12-09T06:39:24Z- AHRS_M2 msg: 1.48 phi; 0.02 theta; 0.22 psi 2020-12-09T06:39:24Z- waiting for 1607495964.62, time is 1607495963.63 2020-12-09T06:39:24Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:24Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1607495964426; depth 0.00 2020-12-09T06:39:24Z- waiting for 1607495964.62, time is 1607495963.63 2020-12-09T06:39:24Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:24Z- handleDvl() - RDI_Pathfinder msg: 1607495964.44 epoch sec; seqNo:802 2020-12-09T06:39:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.44 , 39.39 , 44.50 , 45.11 2020-12-09T06:39:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.04 , -0.06 2020-12-09T06:39:24Z- waiting for 1607495964.62, time is 1607495964.44 2020-12-09T06:39:24Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495964.46 epoch sec; seqNo:1448; 4061679.73 north; 594230.53 east 2020-12-09T06:39:24Z- waiting for 1607495964.62, time is 1607495964.44 2020-12-09T06:39:24Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:24Z- AHRS_M2 msg: 1607495964.83 epoch sec; seqNo:1402 2020-12-09T06:39:24Z- AHRS_M2 msg: 1.52 phi; 0.02 theta; 0.21 psi 2020-12-09T06:39:24Z- waiting for 1607495964.62, time is 1607495964.44 2020-12-09T06:39:24Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:24Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1607495964835; depth 0.00 2020-12-09T06:39:24Z- waiting for 1607495964.62, time is 1607495964.44 2020-12-09T06:39:24Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:24Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:24Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:24Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:24Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:39:24Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:39:24Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:39:24Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:39:24Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:39:24Z- handleDvl() - RDI_Pathfinder msg: 1607495964.84 epoch sec; seqNo:803 2020-12-09T06:39:24Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:39:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.04 , -0.06 2020-12-09T06:39:24Z- waiting for 1607495964.62, time is 1607495964.84 2020-12-09T06:39:24Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:24Z- LcmTrn::updateTrn() >>>> pose time 1607495964.83, meas time 1607495964.84 <<<< 2020-12-09T06:39:24Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495964.84, ping # 0. 2020-12-09T06:39:24Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495964.84 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:39:24Z- TerrainNav::motionUpdate() - currEstimate = (4061680, 594230.53, 50.42) 2020-12-09T06:39:24Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:39:24Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:39:24Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:39:24Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:39:24Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:39:24Z- TNavBF::mmse selected from filter -1 2020-12-09T06:39:24Z- variances([0], [2], and psi_berg) = 790.847186 833.084951 0.000000 2020-12-09T06:39:24Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:39:24Z- LcmTrn::cycle() - MLE : 4061653.23 594182.03 50.42 2020-12-09T06:39:24Z- LcmTrn::cycle() - MMSE : 4061679.73 594230.53 50.42 2020-12-09T06:39:24Z- LcmTrn::cycle() - COVAR: 790.85 833.08 52.09 0.00 2020-12-09T06:39:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495964.85 epoch sec; seqNo:1449; 4061679.73 north; 594230.53 east 2020-12-09T06:39:24Z- waiting for 1607495967.84, time is 1607495964.84 2020-12-09T06:39:24Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:25Z- AHRS_M2 msg: 1607495965.23 epoch sec; seqNo:1403 2020-12-09T06:39:25Z- AHRS_M2 msg: 1.56 phi; 0.02 theta; 0.21 psi 2020-12-09T06:39:25Z- waiting for 1607495967.84, time is 1607495964.84 2020-12-09T06:39:25Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:25Z- handleDepth()-Depth_Keller msg: 50.41 epoch sec; seqNo:1607495965239; depth 0.00 2020-12-09T06:39:25Z- waiting for 1607495967.84, time is 1607495964.84 2020-12-09T06:39:25Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495965.26 epoch sec; seqNo:1450; 4061679.73 north; 594230.53 east 2020-12-09T06:39:25Z- waiting for 1607495967.84, time is 1607495964.84 2020-12-09T06:39:25Z- sync is 0.42, coherence is 2.00 2020-12-09T06:39:25Z- AHRS_M2 msg: 1607495965.63 epoch sec; seqNo:1404 2020-12-09T06:39:25Z- AHRS_M2 msg: 1.59 phi; 0.02 theta; 0.21 psi 2020-12-09T06:39:25Z- waiting for 1607495967.84, time is 1607495964.84 2020-12-09T06:39:25Z- sync is 0.80, coherence is 2.00 2020-12-09T06:39:25Z- handleDepth()-Depth_Keller msg: 50.40 epoch sec; seqNo:1607495965637; depth 0.00 2020-12-09T06:39:25Z- waiting for 1607495967.84, time is 1607495964.84 2020-12-09T06:39:25Z- sync is 0.80, coherence is 2.00 2020-12-09T06:39:25Z- handleDvl() - RDI_Pathfinder msg: 1607495965.66 epoch sec; seqNo:804 2020-12-09T06:39:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 51.23 , 39.39 , 44.49 , 45.31 2020-12-09T06:39:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , -0.05 , -0.05 2020-12-09T06:39:25Z- waiting for 1607495967.84, time is 1607495965.66 2020-12-09T06:39:25Z- sync is 0.03, coherence is 2.00 2020-12-09T06:39:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495965.67 epoch sec; seqNo:1451; 4061679.74 north; 594231.75 east 2020-12-09T06:39:25Z- waiting for 1607495967.84, time is 1607495965.66 2020-12-09T06:39:25Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:25Z- AHRS_M2 msg: 1607495966.04 epoch sec; seqNo:1405 2020-12-09T06:39:25Z- AHRS_M2 msg: 1.63 phi; 0.02 theta; 0.21 psi 2020-12-09T06:39:25Z- waiting for 1607495967.84, time is 1607495965.66 2020-12-09T06:39:25Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:25Z- handleDepth()-Depth_Keller msg: 50.40 epoch sec; seqNo:1607495966042; depth 0.00 2020-12-09T06:39:25Z- waiting for 1607495967.84, time is 1607495965.66 2020-12-09T06:39:25Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495966.05 epoch sec; seqNo:1452; 4061679.74 north; 594231.75 east 2020-12-09T06:39:26Z- waiting for 1607495967.84, time is 1607495965.66 2020-12-09T06:39:26Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:26Z- AHRS_M2 msg: 1607495966.44 epoch sec; seqNo:1406 2020-12-09T06:39:26Z- AHRS_M2 msg: 1.67 phi; 0.02 theta; 0.21 psi 2020-12-09T06:39:26Z- waiting for 1607495967.84, time is 1607495965.66 2020-12-09T06:39:26Z- sync is 0.78, coherence is 2.00 2020-12-09T06:39:26Z- handleDepth()-Depth_Keller msg: 50.40 epoch sec; seqNo:1607495966450; depth 0.00 2020-12-09T06:39:26Z- waiting for 1607495967.84, time is 1607495965.66 2020-12-09T06:39:26Z- sync is 0.78, coherence is 2.00 2020-12-09T06:39:26Z- handleDvl() - RDI_Pathfinder msg: 1607495966.46 epoch sec; seqNo:805 2020-12-09T06:39:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 50.62 , 39.59 , 44.29 , 45.10 2020-12-09T06:39:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.09 , -0.03 2020-12-09T06:39:26Z- waiting for 1607495967.84, time is 1607495966.46 2020-12-09T06:39:26Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495966.49 epoch sec; seqNo:1453; 4061679.74 north; 594231.75 east 2020-12-09T06:39:26Z- waiting for 1607495967.84, time is 1607495966.46 2020-12-09T06:39:26Z- sync is 0.03, coherence is 2.00 2020-12-09T06:39:26Z- AHRS_M2 msg: 1607495966.85 epoch sec; seqNo:1407 2020-12-09T06:39:26Z- AHRS_M2 msg: 1.71 phi; 0.02 theta; 0.21 psi 2020-12-09T06:39:26Z- waiting for 1607495967.84, time is 1607495966.46 2020-12-09T06:39:26Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:26Z- handleDepth()-Depth_Keller msg: 50.40 epoch sec; seqNo:1607495966852; depth 0.00 2020-12-09T06:39:26Z- waiting for 1607495967.84, time is 1607495966.46 2020-12-09T06:39:26Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495966.86 epoch sec; seqNo:1454; 4061679.76 north; 594232.97 east 2020-12-09T06:39:26Z- waiting for 1607495967.84, time is 1607495966.46 2020-12-09T06:39:26Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:27Z- AHRS_M2 msg: 1607495967.26 epoch sec; seqNo:1408 2020-12-09T06:39:27Z- AHRS_M2 msg: 1.75 phi; 0.02 theta; 0.21 psi 2020-12-09T06:39:27Z- waiting for 1607495967.84, time is 1607495966.46 2020-12-09T06:39:27Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:27Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1607495967278; depth 0.00 2020-12-09T06:39:27Z- waiting for 1607495967.84, time is 1607495966.46 2020-12-09T06:39:27Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:27Z- handleDvl() - RDI_Pathfinder msg: 1607495967.30 epoch sec; seqNo:806 2020-12-09T06:39:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 50.82 , 39.59 , 44.49 , 45.10 2020-12-09T06:39:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.09 , -0.03 2020-12-09T06:39:27Z- waiting for 1607495967.84, time is 1607495967.30 2020-12-09T06:39:27Z- sync is 0.04, coherence is 2.00 2020-12-09T06:39:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495967.33 epoch sec; seqNo:1455; 4061679.76 north; 594232.97 east 2020-12-09T06:39:27Z- waiting for 1607495967.84, time is 1607495967.30 2020-12-09T06:39:27Z- sync is 0.03, coherence is 2.00 2020-12-09T06:39:27Z- AHRS_M2 msg: 1607495967.66 epoch sec; seqNo:1409 2020-12-09T06:39:27Z- AHRS_M2 msg: 1.79 phi; 0.02 theta; 0.21 psi 2020-12-09T06:39:27Z- waiting for 1607495967.84, time is 1607495967.30 2020-12-09T06:39:27Z- sync is 0.36, coherence is 2.00 2020-12-09T06:39:27Z- handleDepth()-Depth_Keller msg: 50.38 epoch sec; seqNo:1607495967660; depth 0.00 2020-12-09T06:39:27Z- waiting for 1607495967.84, time is 1607495967.30 2020-12-09T06:39:27Z- sync is 0.36, coherence is 2.00 2020-12-09T06:39:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495967.67 epoch sec; seqNo:1456; 4061679.76 north; 594232.97 east 2020-12-09T06:39:27Z- waiting for 1607495967.84, time is 1607495967.30 2020-12-09T06:39:27Z- sync is 0.37, coherence is 2.00 2020-12-09T06:39:28Z- AHRS_M2 msg: 1607495968.06 epoch sec; seqNo:1410 2020-12-09T06:39:28Z- AHRS_M2 msg: 1.83 phi; 0.02 theta; 0.21 psi 2020-12-09T06:39:28Z- waiting for 1607495967.84, time is 1607495967.30 2020-12-09T06:39:28Z- sync is 0.76, coherence is 2.00 2020-12-09T06:39:28Z- handleDepth()-Depth_Keller msg: 50.37 epoch sec; seqNo:1607495968062; depth 0.00 2020-12-09T06:39:28Z- waiting for 1607495967.84, time is 1607495967.30 2020-12-09T06:39:28Z- sync is 0.76, coherence is 2.00 2020-12-09T06:39:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495968.09 epoch sec; seqNo:1457; 4061679.76 north; 594232.97 east 2020-12-09T06:39:28Z- waiting for 1607495967.84, time is 1607495967.30 2020-12-09T06:39:28Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:28Z- handleDepth()-Depth_Keller msg: 50.35 epoch sec; seqNo:1607495968486; depth 0.00 2020-12-09T06:39:28Z- waiting for 1607495967.84, time is 1607495967.30 2020-12-09T06:39:28Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:28Z- handleDvl() - RDI_Pathfinder msg: 1607495968.50 epoch sec; seqNo:807 2020-12-09T06:39:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 50.62 , 39.59 , 44.29 , 45.10 2020-12-09T06:39:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.10 , -0.03 2020-12-09T06:39:28Z- waiting for 1607495967.84, time is 1607495968.50 2020-12-09T06:39:28Z- sync is 0.41, coherence is 2.00 2020-12-09T06:39:28Z- LcmTrn::updateTrn() >>>> pose time 1607495968.09, meas time 1607495968.50 <<<< 2020-12-09T06:39:28Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495968.50 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:39:28Z- TerrainNav::motionUpdate() - currEstimate = (4061680, 594232.97, 50.35) 2020-12-09T06:39:28Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:39:28Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:39:28Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:39:28Z- TNavBF::mmse selected from filter -1 2020-12-09T06:39:28Z- variances([0], [2], and psi_berg) = 790.701763 833.084695 0.000000 2020-12-09T06:39:28Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:39:28Z- LcmTrn::cycle() - MLE : 4061653.26 594184.47 50.35 2020-12-09T06:39:28Z- LcmTrn::cycle() - MMSE : 4061679.76 594232.97 50.35 2020-12-09T06:39:28Z- LcmTrn::cycle() - COVAR: 790.70 833.08 52.21 0.00 2020-12-09T06:39:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495968.52 epoch sec; seqNo:1458; 4061679.39 north; 594234.19 east 2020-12-09T06:39:28Z- waiting for 1607495971.50, time is 1607495968.50 2020-12-09T06:39:28Z- sync is 0.03, coherence is 2.00 2020-12-09T06:39:28Z- AHRS_M2 msg: 1607495968.86 epoch sec; seqNo:1411 2020-12-09T06:39:28Z- AHRS_M2 msg: 1.91 phi; 0.02 theta; 0.21 psi 2020-12-09T06:39:28Z- waiting for 1607495971.50, time is 1607495968.50 2020-12-09T06:39:28Z- sync is 0.37, coherence is 2.00 2020-12-09T06:39:28Z- handleDepth()-Depth_Keller msg: 50.36 epoch sec; seqNo:1607495968870; depth 0.00 2020-12-09T06:39:28Z- waiting for 1607495971.50, time is 1607495968.50 2020-12-09T06:39:28Z- sync is 0.37, coherence is 2.00 2020-12-09T06:39:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495968.89 epoch sec; seqNo:1459; 4061679.39 north; 594234.19 east 2020-12-09T06:39:28Z- waiting for 1607495971.50, time is 1607495968.50 2020-12-09T06:39:28Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:29Z- AHRS_M2 msg: 1607495969.29 epoch sec; seqNo:1412 2020-12-09T06:39:29Z- AHRS_M2 msg: 1.95 phi; 0.02 theta; 0.21 psi 2020-12-09T06:39:29Z- waiting for 1607495971.50, time is 1607495968.50 2020-12-09T06:39:29Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:29Z- handleDepth()-Depth_Keller msg: 50.35 epoch sec; seqNo:1607495969299; depth 0.00 2020-12-09T06:39:29Z- waiting for 1607495971.50, time is 1607495968.50 2020-12-09T06:39:29Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:29Z- handleDvl() - RDI_Pathfinder msg: 1607495969.32 epoch sec; seqNo:808 2020-12-09T06:39:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 50.41 , 39.59 , 44.49 , 45.10 2020-12-09T06:39:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.11 , -0.04 2020-12-09T06:39:29Z- waiting for 1607495971.50, time is 1607495969.32 2020-12-09T06:39:29Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495969.34 epoch sec; seqNo:1460; 4061679.39 north; 594234.19 east 2020-12-09T06:39:29Z- waiting for 1607495971.50, time is 1607495969.32 2020-12-09T06:39:29Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:29Z- AHRS_M2 msg: 1607495969.68 epoch sec; seqNo:1413 2020-12-09T06:39:29Z- AHRS_M2 msg: 1.99 phi; 0.02 theta; 0.21 psi 2020-12-09T06:39:29Z- waiting for 1607495971.50, time is 1607495969.32 2020-12-09T06:39:29Z- sync is 0.36, coherence is 2.00 2020-12-09T06:39:29Z- handleDepth()-Depth_Keller msg: 50.34 epoch sec; seqNo:1607495969683; depth 0.00 2020-12-09T06:39:29Z- waiting for 1607495971.50, time is 1607495969.32 2020-12-09T06:39:29Z- sync is 0.36, coherence is 2.00 2020-12-09T06:39:29Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:29Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:29Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:29Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:39:29Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:39:29Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:39:29Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:39:29Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:39:29Z- handleDvl() - RDI_Pathfinder msg: 1607495969.69 epoch sec; seqNo:809 2020-12-09T06:39:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:39:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.11 , -0.04 2020-12-09T06:39:29Z- waiting for 1607495971.50, time is 1607495969.69 2020-12-09T06:39:29Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495969.70 epoch sec; seqNo:1461; 4061679.39 north; 594234.19 east 2020-12-09T06:39:29Z- waiting for 1607495971.50, time is 1607495969.69 2020-12-09T06:39:29Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:30Z- AHRS_M2 msg: 1607495970.08 epoch sec; seqNo:1414 2020-12-09T06:39:30Z- AHRS_M2 msg: 2.03 phi; 0.02 theta; 0.21 psi 2020-12-09T06:39:30Z- waiting for 1607495971.50, time is 1607495969.69 2020-12-09T06:39:30Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:30Z- handleDepth()-Depth_Keller msg: 50.34 epoch sec; seqNo:1607495970081; depth 0.00 2020-12-09T06:39:30Z- waiting for 1607495971.50, time is 1607495969.69 2020-12-09T06:39:30Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495970.10 epoch sec; seqNo:1462; 4061679.02 north; 594235.42 east 2020-12-09T06:39:30Z- waiting for 1607495971.50, time is 1607495969.69 2020-12-09T06:39:30Z- sync is 0.42, coherence is 2.00 2020-12-09T06:39:30Z- AHRS_M2 msg: 1607495970.48 epoch sec; seqNo:1415 2020-12-09T06:39:30Z- AHRS_M2 msg: 2.07 phi; 0.02 theta; 0.21 psi 2020-12-09T06:39:30Z- waiting for 1607495971.50, time is 1607495969.69 2020-12-09T06:39:30Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:30Z- handleDepth()-Depth_Keller msg: 50.34 epoch sec; seqNo:1607495970486; depth 0.00 2020-12-09T06:39:30Z- waiting for 1607495971.50, time is 1607495969.69 2020-12-09T06:39:30Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:30Z- handleDvl() - RDI_Pathfinder msg: 1607495970.50 epoch sec; seqNo:810 2020-12-09T06:39:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 50.62 , 39.80 , 44.49 , 44.90 2020-12-09T06:39:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.11 , -0.05 2020-12-09T06:39:30Z- waiting for 1607495971.50, time is 1607495970.50 2020-12-09T06:39:30Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495970.52 epoch sec; seqNo:1463; 4061679.02 north; 594235.42 east 2020-12-09T06:39:30Z- waiting for 1607495971.50, time is 1607495970.50 2020-12-09T06:39:30Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:30Z- AHRS_M2 msg: 1607495970.88 epoch sec; seqNo:1416 2020-12-09T06:39:30Z- AHRS_M2 msg: 2.11 phi; 0.03 theta; 0.21 psi 2020-12-09T06:39:30Z- waiting for 1607495971.50, time is 1607495970.50 2020-12-09T06:39:30Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:30Z- handleDepth()-Depth_Keller msg: 50.31 epoch sec; seqNo:1607495970889; depth 0.00 2020-12-09T06:39:30Z- waiting for 1607495971.50, time is 1607495970.50 2020-12-09T06:39:30Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:30Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:30Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:30Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:30Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:39:30Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:39:30Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:39:30Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:39:30Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:39:30Z- handleDvl() - RDI_Pathfinder msg: 1607495970.89 epoch sec; seqNo:811 2020-12-09T06:39:30Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:39:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.11 , -0.05 2020-12-09T06:39:30Z- waiting for 1607495971.50, time is 1607495970.89 2020-12-09T06:39:30Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495970.90 epoch sec; seqNo:1464; 4061679.02 north; 594235.42 east 2020-12-09T06:39:30Z- waiting for 1607495971.50, time is 1607495970.89 2020-12-09T06:39:30Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:31Z- AHRS_M2 msg: 1607495971.30 epoch sec; seqNo:1417 2020-12-09T06:39:31Z- AHRS_M2 msg: 2.15 phi; 0.03 theta; 0.21 psi 2020-12-09T06:39:31Z- waiting for 1607495971.50, time is 1607495970.89 2020-12-09T06:39:31Z- sync is 0.41, coherence is 2.00 2020-12-09T06:39:31Z- handleDepth()-Depth_Keller msg: 50.32 epoch sec; seqNo:1607495971305; depth 0.00 2020-12-09T06:39:31Z- waiting for 1607495971.50, time is 1607495970.89 2020-12-09T06:39:31Z- sync is 0.41, coherence is 2.00 2020-12-09T06:39:31Z- handleDvl() - RDI_Pathfinder msg: 1607495971.32 epoch sec; seqNo:812 2020-12-09T06:39:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 50.62 , 39.80 , 44.29 , 44.29 2020-12-09T06:39:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.08 , -0.05 2020-12-09T06:39:31Z- waiting for 1607495971.50, time is 1607495971.32 2020-12-09T06:39:31Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495971.35 epoch sec; seqNo:1465; 4061678.65 north; 594235.42 east 2020-12-09T06:39:31Z- waiting for 1607495971.50, time is 1607495971.32 2020-12-09T06:39:31Z- sync is 0.03, coherence is 2.00 2020-12-09T06:39:31Z- AHRS_M2 msg: 1607495971.69 epoch sec; seqNo:1418 2020-12-09T06:39:31Z- AHRS_M2 msg: 2.18 phi; 0.03 theta; 0.21 psi 2020-12-09T06:39:31Z- waiting for 1607495971.50, time is 1607495971.32 2020-12-09T06:39:31Z- sync is 0.37, coherence is 2.00 2020-12-09T06:39:31Z- handleDepth()-Depth_Keller msg: 50.32 epoch sec; seqNo:1607495971696; depth 0.00 2020-12-09T06:39:31Z- waiting for 1607495971.50, time is 1607495971.32 2020-12-09T06:39:31Z- sync is 0.37, coherence is 2.00 2020-12-09T06:39:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495971.72 epoch sec; seqNo:1466; 4061678.66 north; 594236.64 east 2020-12-09T06:39:31Z- waiting for 1607495971.50, time is 1607495971.32 2020-12-09T06:39:31Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:32Z- AHRS_M2 msg: 1607495972.10 epoch sec; seqNo:1419 2020-12-09T06:39:32Z- AHRS_M2 msg: 2.22 phi; 0.03 theta; 0.20 psi 2020-12-09T06:39:32Z- waiting for 1607495971.50, time is 1607495971.32 2020-12-09T06:39:32Z- sync is 0.78, coherence is 2.00 2020-12-09T06:39:32Z- handleDepth()-Depth_Keller msg: 50.32 epoch sec; seqNo:1607495972110; depth 0.00 2020-12-09T06:39:32Z- waiting for 1607495971.50, time is 1607495971.32 2020-12-09T06:39:32Z- sync is 0.78, coherence is 2.00 2020-12-09T06:39:32Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:32Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:32Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:32Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:39:32Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:39:32Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:39:32Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:39:32Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:39:32Z- handleDvl() - RDI_Pathfinder msg: 1607495972.11 epoch sec; seqNo:813 2020-12-09T06:39:32Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:39:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.78 , -0.08 , -0.05 2020-12-09T06:39:32Z- waiting for 1607495971.50, time is 1607495972.11 2020-12-09T06:39:32Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:32Z- LcmTrn::updateTrn() >>>> pose time 1607495972.10, meas time 1607495972.11 <<<< 2020-12-09T06:39:32Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495972.11, ping # 0. 2020-12-09T06:39:32Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495972.11 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:39:32Z- TerrainNav::motionUpdate() - currEstimate = (4061679, 594236.64, 50.32) 2020-12-09T06:39:32Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:39:32Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:39:32Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:39:32Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:39:32Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:39:32Z- TNavBF::mmse selected from filter -1 2020-12-09T06:39:32Z- variances([0], [2], and psi_berg) = 790.520027 833.084375 0.000000 2020-12-09T06:39:32Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:39:32Z- LcmTrn::cycle() - MLE : 4061652.16 594188.14 50.32 2020-12-09T06:39:32Z- LcmTrn::cycle() - MMSE : 4061678.66 594236.64 50.32 2020-12-09T06:39:32Z- LcmTrn::cycle() - COVAR: 790.52 833.08 52.40 0.00 2020-12-09T06:39:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495972.13 epoch sec; seqNo:1467; 4061678.66 north; 594236.64 east 2020-12-09T06:39:32Z- waiting for 1607495975.11, time is 1607495972.11 2020-12-09T06:39:32Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:32Z- AHRS_M2 msg: 1607495972.50 epoch sec; seqNo:1420 2020-12-09T06:39:32Z- AHRS_M2 msg: 2.25 phi; 0.03 theta; 0.19 psi 2020-12-09T06:39:32Z- waiting for 1607495975.11, time is 1607495972.11 2020-12-09T06:39:32Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:32Z- handleDepth()-Depth_Keller msg: 50.30 epoch sec; seqNo:1607495972507; depth 0.00 2020-12-09T06:39:32Z- waiting for 1607495975.11, time is 1607495972.11 2020-12-09T06:39:32Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:32Z- handleDvl() - RDI_Pathfinder msg: 1607495972.52 epoch sec; seqNo:814 2020-12-09T06:39:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 49.80 , 40.01 , 44.29 , 43.88 2020-12-09T06:39:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.77 , -0.06 , -0.05 2020-12-09T06:39:32Z- waiting for 1607495975.11, time is 1607495972.52 2020-12-09T06:39:32Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495972.53 epoch sec; seqNo:1468; 4061678.28 north; 594236.65 east 2020-12-09T06:39:32Z- waiting for 1607495975.11, time is 1607495972.52 2020-12-09T06:39:32Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:32Z- AHRS_M2 msg: 1607495972.91 epoch sec; seqNo:1421 2020-12-09T06:39:32Z- AHRS_M2 msg: 2.28 phi; 0.03 theta; 0.18 psi 2020-12-09T06:39:32Z- waiting for 1607495975.11, time is 1607495972.52 2020-12-09T06:39:32Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:32Z- handleDepth()-Depth_Keller msg: 50.29 epoch sec; seqNo:1607495972916; depth 0.00 2020-12-09T06:39:32Z- waiting for 1607495975.11, time is 1607495972.52 2020-12-09T06:39:32Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495972.93 epoch sec; seqNo:1469; 4061678.28 north; 594236.65 east 2020-12-09T06:39:32Z- waiting for 1607495975.11, time is 1607495972.52 2020-12-09T06:39:32Z- sync is 0.41, coherence is 2.00 2020-12-09T06:39:33Z- AHRS_M2 msg: 1607495973.31 epoch sec; seqNo:1422 2020-12-09T06:39:33Z- AHRS_M2 msg: 2.31 phi; 0.03 theta; 0.16 psi 2020-12-09T06:39:33Z- waiting for 1607495975.11, time is 1607495972.52 2020-12-09T06:39:33Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:33Z- handleDepth()-Depth_Keller msg: 50.28 epoch sec; seqNo:1607495973316; depth 0.00 2020-12-09T06:39:33Z- waiting for 1607495975.11, time is 1607495972.52 2020-12-09T06:39:33Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:33Z- handleDvl() - RDI_Pathfinder msg: 1607495973.35 epoch sec; seqNo:815 2020-12-09T06:39:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 47.56 , 40.62 , 43.68 , 43.27 2020-12-09T06:39:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.79 , -0.03 , -0.04 2020-12-09T06:39:33Z- waiting for 1607495975.11, time is 1607495973.35 2020-12-09T06:39:33Z- sync is 0.04, coherence is 2.00 2020-12-09T06:39:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495973.36 epoch sec; seqNo:1470; 4061677.91 north; 594237.87 east 2020-12-09T06:39:33Z- waiting for 1607495975.11, time is 1607495973.35 2020-12-09T06:39:33Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:33Z- AHRS_M2 msg: 1607495973.71 epoch sec; seqNo:1423 2020-12-09T06:39:33Z- AHRS_M2 msg: 2.33 phi; 0.03 theta; 0.14 psi 2020-12-09T06:39:33Z- waiting for 1607495975.11, time is 1607495973.35 2020-12-09T06:39:33Z- sync is 0.37, coherence is 2.00 2020-12-09T06:39:33Z- handleDepth()-Depth_Keller msg: 50.29 epoch sec; seqNo:1607495973717; depth 0.00 2020-12-09T06:39:33Z- waiting for 1607495975.11, time is 1607495973.35 2020-12-09T06:39:33Z- sync is 0.37, coherence is 2.00 2020-12-09T06:39:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495973.73 epoch sec; seqNo:1471; 4061677.91 north; 594237.87 east 2020-12-09T06:39:33Z- waiting for 1607495975.11, time is 1607495973.35 2020-12-09T06:39:33Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:34Z- AHRS_M2 msg: 1607495974.13 epoch sec; seqNo:1424 2020-12-09T06:39:34Z- AHRS_M2 msg: 2.37 phi; 0.03 theta; 0.11 psi 2020-12-09T06:39:34Z- waiting for 1607495975.11, time is 1607495973.35 2020-12-09T06:39:34Z- sync is 0.78, coherence is 2.00 2020-12-09T06:39:34Z- handleDepth()-Depth_Keller msg: 50.28 epoch sec; seqNo:1607495974136; depth 0.00 2020-12-09T06:39:34Z- waiting for 1607495975.11, time is 1607495973.35 2020-12-09T06:39:34Z- sync is 0.78, coherence is 2.00 2020-12-09T06:39:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495974.14 epoch sec; seqNo:1472; 4061677.54 north; 594237.88 east 2020-12-09T06:39:34Z- waiting for 1607495975.11, time is 1607495973.35 2020-12-09T06:39:34Z- sync is 0.80, coherence is 2.00 2020-12-09T06:39:34Z- AHRS_M2 msg: 1607495974.53 epoch sec; seqNo:1425 2020-12-09T06:39:34Z- AHRS_M2 msg: 2.39 phi; 0.03 theta; 0.09 psi 2020-12-09T06:39:34Z- waiting for 1607495975.11, time is 1607495973.35 2020-12-09T06:39:34Z- sync is 1.18, coherence is 2.00 2020-12-09T06:39:34Z- handleDepth()-Depth_Keller msg: 50.27 epoch sec; seqNo:1607495974530; depth 0.00 2020-12-09T06:39:34Z- waiting for 1607495975.11, time is 1607495973.35 2020-12-09T06:39:34Z- sync is 1.18, coherence is 2.00 2020-12-09T06:39:34Z- handleDvl() - RDI_Pathfinder msg: 1607495974.54 epoch sec; seqNo:816 2020-12-09T06:39:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 46.13 , 41.64 , 43.68 , 42.86 2020-12-09T06:39:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.02 , -0.04 2020-12-09T06:39:34Z- waiting for 1607495975.11, time is 1607495974.54 2020-12-09T06:39:34Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495974.56 epoch sec; seqNo:1473; 4061677.16 north; 594237.88 east 2020-12-09T06:39:34Z- waiting for 1607495975.11, time is 1607495974.54 2020-12-09T06:39:34Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:34Z- AHRS_M2 msg: 1607495974.92 epoch sec; seqNo:1426 2020-12-09T06:39:34Z- AHRS_M2 msg: 2.41 phi; 0.04 theta; 0.07 psi 2020-12-09T06:39:34Z- waiting for 1607495975.11, time is 1607495974.54 2020-12-09T06:39:34Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:34Z- handleDepth()-Depth_Keller msg: 50.26 epoch sec; seqNo:1607495974929; depth 0.00 2020-12-09T06:39:34Z- waiting for 1607495975.11, time is 1607495974.54 2020-12-09T06:39:34Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495974.96 epoch sec; seqNo:1474; 4061677.16 north; 594237.88 east 2020-12-09T06:39:34Z- waiting for 1607495975.11, time is 1607495974.54 2020-12-09T06:39:34Z- sync is 0.42, coherence is 2.00 2020-12-09T06:39:35Z- AHRS_M2 msg: 1607495975.33 epoch sec; seqNo:1427 2020-12-09T06:39:35Z- AHRS_M2 msg: 2.43 phi; 0.04 theta; 0.05 psi 2020-12-09T06:39:35Z- waiting for 1607495975.11, time is 1607495974.54 2020-12-09T06:39:35Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:35Z- handleDepth()-Depth_Keller msg: 50.25 epoch sec; seqNo:1607495975339; depth 0.00 2020-12-09T06:39:35Z- waiting for 1607495975.11, time is 1607495974.54 2020-12-09T06:39:35Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:35Z- handleDvl() - RDI_Pathfinder msg: 1607495975.36 epoch sec; seqNo:817 2020-12-09T06:39:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 44.49 , 42.65 , 43.47 , 42.86 2020-12-09T06:39:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.00 , -0.03 2020-12-09T06:39:35Z- waiting for 1607495975.11, time is 1607495975.36 2020-12-09T06:39:35Z- sync is 0.03, coherence is 2.00 2020-12-09T06:39:35Z- LcmTrn::updateTrn() >>>> pose time 1607495975.33, meas time 1607495975.36 <<<< 2020-12-09T06:39:35Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495975.36 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:39:35Z- TerrainNav::motionUpdate() - currEstimate = (4061677, 594237.88, 50.25) 2020-12-09T06:39:35Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:39:35Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:39:35Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:39:35Z- TNavBF::mmse selected from filter -1 2020-12-09T06:39:35Z- variances([0], [2], and psi_berg) = 790.391016 833.084149 0.000000 2020-12-09T06:39:35Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:39:35Z- LcmTrn::cycle() - MLE : 4061650.66 594189.38 50.25 2020-12-09T06:39:35Z- LcmTrn::cycle() - MMSE : 4061677.16 594237.88 50.25 2020-12-09T06:39:35Z- LcmTrn::cycle() - COVAR: 790.39 833.08 52.50 0.00 2020-12-09T06:39:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495975.37 epoch sec; seqNo:1475; 4061676.78 north; 594237.88 east 2020-12-09T06:39:35Z- waiting for 1607495978.36, time is 1607495975.36 2020-12-09T06:39:35Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:35Z- AHRS_M2 msg: 1607495975.73 epoch sec; seqNo:1428 2020-12-09T06:39:35Z- AHRS_M2 msg: 2.44 phi; 0.04 theta; 0.03 psi 2020-12-09T06:39:35Z- waiting for 1607495978.36, time is 1607495975.36 2020-12-09T06:39:35Z- sync is 0.37, coherence is 2.00 2020-12-09T06:39:35Z- handleDepth()-Depth_Keller msg: 50.24 epoch sec; seqNo:1607495975736; depth 0.00 2020-12-09T06:39:35Z- waiting for 1607495978.36, time is 1607495975.36 2020-12-09T06:39:35Z- sync is 0.37, coherence is 2.00 2020-12-09T06:39:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:35Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:35Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:39:35Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:39:35Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:39:35Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:39:35Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:39:35Z- handleDvl() - RDI_Pathfinder msg: 1607495975.74 epoch sec; seqNo:818 2020-12-09T06:39:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:39:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.00 , -0.03 2020-12-09T06:39:35Z- waiting for 1607495978.36, time is 1607495975.74 2020-12-09T06:39:35Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495975.75 epoch sec; seqNo:1476; 4061676.41 north; 594239.11 east 2020-12-09T06:39:35Z- waiting for 1607495978.36, time is 1607495975.74 2020-12-09T06:39:35Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:36Z- AHRS_M2 msg: 1607495976.14 epoch sec; seqNo:1429 2020-12-09T06:39:36Z- AHRS_M2 msg: 2.45 phi; 0.04 theta; 0.02 psi 2020-12-09T06:39:36Z- waiting for 1607495978.36, time is 1607495975.74 2020-12-09T06:39:36Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:36Z- handleDepth()-Depth_Keller msg: 50.23 epoch sec; seqNo:1607495976146; depth 0.00 2020-12-09T06:39:36Z- waiting for 1607495978.36, time is 1607495975.74 2020-12-09T06:39:36Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495976.16 epoch sec; seqNo:1477; 4061676.41 north; 594239.11 east 2020-12-09T06:39:36Z- waiting for 1607495978.36, time is 1607495975.74 2020-12-09T06:39:36Z- sync is 0.42, coherence is 2.00 2020-12-09T06:39:36Z- AHRS_M2 msg: 1607495976.54 epoch sec; seqNo:1430 2020-12-09T06:39:36Z- AHRS_M2 msg: 2.46 phi; 0.04 theta; -0.00 psi 2020-12-09T06:39:36Z- waiting for 1607495978.36, time is 1607495975.74 2020-12-09T06:39:36Z- sync is 0.80, coherence is 2.00 2020-12-09T06:39:36Z- handleDepth()-Depth_Keller msg: 50.24 epoch sec; seqNo:1607495976545; depth 0.00 2020-12-09T06:39:36Z- waiting for 1607495978.36, time is 1607495975.74 2020-12-09T06:39:36Z- sync is 0.80, coherence is 2.00 2020-12-09T06:39:36Z- handleDvl() - RDI_Pathfinder msg: 1607495976.56 epoch sec; seqNo:819 2020-12-09T06:39:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 43.27 , 43.88 , 43.68 , 42.86 2020-12-09T06:39:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.00 , -0.03 2020-12-09T06:39:36Z- waiting for 1607495978.36, time is 1607495976.56 2020-12-09T06:39:36Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495976.58 epoch sec; seqNo:1478; 4061676.03 north; 594239.11 east 2020-12-09T06:39:36Z- waiting for 1607495978.36, time is 1607495976.56 2020-12-09T06:39:36Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:36Z- AHRS_M2 msg: 1607495976.95 epoch sec; seqNo:1431 2020-12-09T06:39:36Z- AHRS_M2 msg: 2.47 phi; 0.04 theta; -0.02 psi 2020-12-09T06:39:36Z- waiting for 1607495978.36, time is 1607495976.56 2020-12-09T06:39:36Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:36Z- handleDepth()-Depth_Keller msg: 50.23 epoch sec; seqNo:1607495976950; depth 0.00 2020-12-09T06:39:36Z- waiting for 1607495978.36, time is 1607495976.56 2020-12-09T06:39:36Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:36Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:36Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:36Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:36Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:39:36Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:39:36Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:39:36Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:39:36Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:39:36Z- handleDvl() - RDI_Pathfinder msg: 1607495976.95 epoch sec; seqNo:820 2020-12-09T06:39:36Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:39:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.00 , -0.03 2020-12-09T06:39:36Z- waiting for 1607495978.36, time is 1607495976.95 2020-12-09T06:39:36Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495976.98 epoch sec; seqNo:1479; 4061675.66 north; 594239.12 east 2020-12-09T06:39:36Z- waiting for 1607495978.36, time is 1607495976.95 2020-12-09T06:39:36Z- sync is 0.03, coherence is 2.00 2020-12-09T06:39:37Z- AHRS_M2 msg: 1607495977.35 epoch sec; seqNo:1432 2020-12-09T06:39:37Z- AHRS_M2 msg: 2.48 phi; 0.04 theta; -0.03 psi 2020-12-09T06:39:37Z- waiting for 1607495978.36, time is 1607495976.95 2020-12-09T06:39:37Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:37Z- handleDepth()-Depth_Keller msg: 50.23 epoch sec; seqNo:1607495977356; depth 0.00 2020-12-09T06:39:37Z- waiting for 1607495978.36, time is 1607495976.95 2020-12-09T06:39:37Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:37Z- handleDvl() - RDI_Pathfinder msg: 1607495977.37 epoch sec; seqNo:821 2020-12-09T06:39:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 42.04 , 44.90 , 43.68 , 43.06 2020-12-09T06:39:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.02 , -0.01 2020-12-09T06:39:37Z- waiting for 1607495978.36, time is 1607495977.37 2020-12-09T06:39:37Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495977.38 epoch sec; seqNo:1480; 4061675.66 north; 594239.12 east 2020-12-09T06:39:37Z- waiting for 1607495978.36, time is 1607495977.37 2020-12-09T06:39:37Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:37Z- AHRS_M2 msg: 1607495977.76 epoch sec; seqNo:1433 2020-12-09T06:39:37Z- AHRS_M2 msg: 2.49 phi; 0.04 theta; -0.05 psi 2020-12-09T06:39:37Z- waiting for 1607495978.36, time is 1607495977.37 2020-12-09T06:39:37Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:37Z- handleDepth()-Depth_Keller msg: 50.22 epoch sec; seqNo:1607495977760; depth 0.00 2020-12-09T06:39:37Z- waiting for 1607495978.36, time is 1607495977.37 2020-12-09T06:39:37Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495977.77 epoch sec; seqNo:1481; 4061675.28 north; 594239.12 east 2020-12-09T06:39:37Z- waiting for 1607495978.36, time is 1607495977.37 2020-12-09T06:39:37Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:38Z- AHRS_M2 msg: 1607495978.16 epoch sec; seqNo:1434 2020-12-09T06:39:38Z- AHRS_M2 msg: 2.50 phi; 0.04 theta; -0.06 psi 2020-12-09T06:39:38Z- waiting for 1607495978.36, time is 1607495977.37 2020-12-09T06:39:38Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:38Z- handleDepth()-Depth_Keller msg: 50.22 epoch sec; seqNo:1607495978162; depth 0.00 2020-12-09T06:39:38Z- waiting for 1607495978.36, time is 1607495977.37 2020-12-09T06:39:38Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:38Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:38Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:38Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:38Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:39:38Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:39:38Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:39:38Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:39:38Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:39:38Z- handleDvl() - RDI_Pathfinder msg: 1607495978.16 epoch sec; seqNo:822 2020-12-09T06:39:38Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:39:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.02 , -0.01 2020-12-09T06:39:38Z- waiting for 1607495978.36, time is 1607495978.16 2020-12-09T06:39:38Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495978.18 epoch sec; seqNo:1482; 4061674.91 north; 594240.35 east 2020-12-09T06:39:38Z- waiting for 1607495978.36, time is 1607495978.16 2020-12-09T06:39:38Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:38Z- AHRS_M2 msg: 1607495978.56 epoch sec; seqNo:1435 2020-12-09T06:39:38Z- AHRS_M2 msg: 2.51 phi; 0.04 theta; -0.07 psi 2020-12-09T06:39:38Z- waiting for 1607495978.36, time is 1607495978.16 2020-12-09T06:39:38Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:38Z- handleDepth()-Depth_Keller msg: 50.22 epoch sec; seqNo:1607495978573; depth 0.00 2020-12-09T06:39:38Z- waiting for 1607495978.36, time is 1607495978.16 2020-12-09T06:39:38Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:38Z- handleDvl() - RDI_Pathfinder msg: 1607495978.59 epoch sec; seqNo:823 2020-12-09T06:39:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 41.43 , 45.92 , 43.88 , 43.47 2020-12-09T06:39:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.04 , 0.01 2020-12-09T06:39:38Z- waiting for 1607495978.36, time is 1607495978.59 2020-12-09T06:39:38Z- sync is 0.03, coherence is 2.00 2020-12-09T06:39:38Z- LcmTrn::updateTrn() >>>> pose time 1607495978.56, meas time 1607495978.59 <<<< 2020-12-09T06:39:38Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495978.59 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:39:38Z- TerrainNav::motionUpdate() - currEstimate = (4061675, 594240.35, 50.22) 2020-12-09T06:39:38Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:39:38Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:39:38Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:39:38Z- TNavBF::mmse selected from filter -1 2020-12-09T06:39:38Z- variances([0], [2], and psi_berg) = 790.222527 833.083855 0.000000 2020-12-09T06:39:38Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:39:38Z- LcmTrn::cycle() - MLE : 4061648.41 594191.85 50.22 2020-12-09T06:39:38Z- LcmTrn::cycle() - MMSE : 4061674.91 594240.35 50.22 2020-12-09T06:39:38Z- LcmTrn::cycle() - COVAR: 790.22 833.08 52.67 0.00 2020-12-09T06:39:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495978.61 epoch sec; seqNo:1483; 4061674.91 north; 594240.35 east 2020-12-09T06:39:38Z- waiting for 1607495981.59, time is 1607495978.59 2020-12-09T06:39:38Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:38Z- AHRS_M2 msg: 1607495978.97 epoch sec; seqNo:1436 2020-12-09T06:39:38Z- AHRS_M2 msg: 2.51 phi; 0.04 theta; -0.08 psi 2020-12-09T06:39:38Z- waiting for 1607495981.59, time is 1607495978.59 2020-12-09T06:39:38Z- sync is 0.37, coherence is 2.00 2020-12-09T06:39:38Z- handleDepth()-Depth_Keller msg: 50.21 epoch sec; seqNo:1607495978971; depth 0.00 2020-12-09T06:39:38Z- waiting for 1607495981.59, time is 1607495978.59 2020-12-09T06:39:38Z- sync is 0.37, coherence is 2.00 2020-12-09T06:39:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495978.98 epoch sec; seqNo:1484; 4061674.53 north; 594240.35 east 2020-12-09T06:39:38Z- waiting for 1607495981.59, time is 1607495978.59 2020-12-09T06:39:38Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:39Z- AHRS_M2 msg: 1607495979.37 epoch sec; seqNo:1437 2020-12-09T06:39:39Z- AHRS_M2 msg: 2.52 phi; 0.04 theta; -0.09 psi 2020-12-09T06:39:39Z- waiting for 1607495981.59, time is 1607495978.59 2020-12-09T06:39:39Z- sync is 0.78, coherence is 2.00 2020-12-09T06:39:39Z- handleDepth()-Depth_Keller msg: 50.21 epoch sec; seqNo:1607495979375; depth 0.00 2020-12-09T06:39:39Z- waiting for 1607495981.59, time is 1607495978.59 2020-12-09T06:39:39Z- sync is 0.78, coherence is 2.00 2020-12-09T06:39:39Z- handleDvl() - RDI_Pathfinder msg: 1607495979.39 epoch sec; seqNo:824 2020-12-09T06:39:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.82 , 46.53 , 43.88 , 43.27 2020-12-09T06:39:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.07 , 0.04 2020-12-09T06:39:39Z- waiting for 1607495981.59, time is 1607495979.39 2020-12-09T06:39:39Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495979.40 epoch sec; seqNo:1485; 4061674.15 north; 594240.35 east 2020-12-09T06:39:39Z- waiting for 1607495981.59, time is 1607495979.39 2020-12-09T06:39:39Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:39Z- AHRS_M2 msg: 1607495979.77 epoch sec; seqNo:1438 2020-12-09T06:39:39Z- AHRS_M2 msg: 2.52 phi; 0.04 theta; -0.10 psi 2020-12-09T06:39:39Z- waiting for 1607495981.59, time is 1607495979.39 2020-12-09T06:39:39Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:39Z- handleDepth()-Depth_Keller msg: 50.20 epoch sec; seqNo:1607495979787; depth 0.00 2020-12-09T06:39:39Z- waiting for 1607495981.59, time is 1607495979.39 2020-12-09T06:39:39Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495979.81 epoch sec; seqNo:1486; 4061674.15 north; 594240.35 east 2020-12-09T06:39:39Z- waiting for 1607495981.59, time is 1607495979.39 2020-12-09T06:39:39Z- sync is 0.42, coherence is 2.00 2020-12-09T06:39:40Z- AHRS_M2 msg: 1607495980.18 epoch sec; seqNo:1439 2020-12-09T06:39:40Z- AHRS_M2 msg: 2.53 phi; 0.04 theta; -0.10 psi 2020-12-09T06:39:40Z- waiting for 1607495981.59, time is 1607495979.39 2020-12-09T06:39:40Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:40Z- handleDepth()-Depth_Keller msg: 50.21 epoch sec; seqNo:1607495980182; depth 0.00 2020-12-09T06:39:40Z- waiting for 1607495981.59, time is 1607495979.39 2020-12-09T06:39:40Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495980.22 epoch sec; seqNo:1487; 4061673.77 north; 594240.36 east 2020-12-09T06:39:40Z- waiting for 1607495981.59, time is 1607495979.39 2020-12-09T06:39:40Z- sync is 0.83, coherence is 2.00 2020-12-09T06:39:40Z- AHRS_M2 msg: 1607495980.59 epoch sec; seqNo:1440 2020-12-09T06:39:40Z- AHRS_M2 msg: 2.54 phi; 0.04 theta; -0.11 psi 2020-12-09T06:39:40Z- waiting for 1607495981.59, time is 1607495979.39 2020-12-09T06:39:40Z- sync is 1.20, coherence is 2.00 2020-12-09T06:39:40Z- handleDepth()-Depth_Keller msg: 50.20 epoch sec; seqNo:1607495980593; depth 0.00 2020-12-09T06:39:40Z- waiting for 1607495981.59, time is 1607495979.39 2020-12-09T06:39:40Z- sync is 1.20, coherence is 2.00 2020-12-09T06:39:40Z- handleDvl() - RDI_Pathfinder msg: 1607495980.61 epoch sec; seqNo:825 2020-12-09T06:39:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.82 , 47.35 , 44.08 , 43.47 2020-12-09T06:39:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.10 , 0.07 2020-12-09T06:39:40Z- waiting for 1607495981.59, time is 1607495980.61 2020-12-09T06:39:40Z- sync is 0.03, coherence is 2.00 2020-12-09T06:39:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495980.64 epoch sec; seqNo:1488; 4061673.41 north; 594241.58 east 2020-12-09T06:39:40Z- waiting for 1607495981.59, time is 1607495980.61 2020-12-09T06:39:40Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:40Z- AHRS_M2 msg: 1607495980.99 epoch sec; seqNo:1441 2020-12-09T06:39:40Z- AHRS_M2 msg: 2.54 phi; 0.04 theta; -0.11 psi 2020-12-09T06:39:40Z- waiting for 1607495981.59, time is 1607495980.61 2020-12-09T06:39:40Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:40Z- handleDepth()-Depth_Keller msg: 50.21 epoch sec; seqNo:1607495980997; depth 0.00 2020-12-09T06:39:40Z- waiting for 1607495981.59, time is 1607495980.61 2020-12-09T06:39:40Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495981.01 epoch sec; seqNo:1489; 4061673.41 north; 594241.58 east 2020-12-09T06:39:40Z- waiting for 1607495981.59, time is 1607495980.61 2020-12-09T06:39:40Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:41Z- AHRS_M2 msg: 1607495981.39 epoch sec; seqNo:1442 2020-12-09T06:39:41Z- AHRS_M2 msg: 2.55 phi; 0.04 theta; -0.12 psi 2020-12-09T06:39:41Z- waiting for 1607495981.59, time is 1607495980.61 2020-12-09T06:39:41Z- sync is 0.78, coherence is 2.00 2020-12-09T06:39:41Z- handleDepth()-Depth_Keller msg: 50.19 epoch sec; seqNo:1607495981403; depth 0.00 2020-12-09T06:39:41Z- waiting for 1607495981.59, time is 1607495980.61 2020-12-09T06:39:41Z- sync is 0.78, coherence is 2.00 2020-12-09T06:39:41Z- handleDvl() - RDI_Pathfinder msg: 1607495981.41 epoch sec; seqNo:826 2020-12-09T06:39:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.41 , 47.96 , 44.29 , 43.88 2020-12-09T06:39:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.15 , 0.09 2020-12-09T06:39:41Z- waiting for 1607495981.59, time is 1607495981.41 2020-12-09T06:39:41Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495981.43 epoch sec; seqNo:1490; 4061673.03 north; 594241.59 east 2020-12-09T06:39:41Z- waiting for 1607495981.59, time is 1607495981.41 2020-12-09T06:39:41Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:41Z- AHRS_M2 msg: 1607495981.79 epoch sec; seqNo:1443 2020-12-09T06:39:41Z- AHRS_M2 msg: 2.55 phi; 0.04 theta; -0.13 psi 2020-12-09T06:39:41Z- waiting for 1607495981.59, time is 1607495981.41 2020-12-09T06:39:41Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:41Z- handleDepth()-Depth_Keller msg: 50.20 epoch sec; seqNo:1607495981798; depth 0.00 2020-12-09T06:39:41Z- waiting for 1607495981.59, time is 1607495981.41 2020-12-09T06:39:41Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:41Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:41Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:41Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:41Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:39:41Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:39:41Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:39:41Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:39:41Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:39:41Z- handleDvl() - RDI_Pathfinder msg: 1607495981.80 epoch sec; seqNo:827 2020-12-09T06:39:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:39:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.15 , 0.09 2020-12-09T06:39:41Z- waiting for 1607495981.59, time is 1607495981.80 2020-12-09T06:39:41Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:41Z- LcmTrn::updateTrn() >>>> pose time 1607495981.79, meas time 1607495981.80 <<<< 2020-12-09T06:39:41Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495981.80, ping # 0. 2020-12-09T06:39:41Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495981.80 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:39:41Z- TerrainNav::motionUpdate() - currEstimate = (4061673, 594241.59, 50.20) 2020-12-09T06:39:41Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:39:41Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:39:41Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:39:41Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:39:41Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:39:41Z- TNavBF::mmse selected from filter -1 2020-12-09T06:39:41Z- variances([0], [2], and psi_berg) = 790.084493 833.083614 0.000000 2020-12-09T06:39:41Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:39:41Z- LcmTrn::cycle() - MLE : 4061646.53 594193.09 50.20 2020-12-09T06:39:41Z- LcmTrn::cycle() - MMSE : 4061673.03 594241.59 50.20 2020-12-09T06:39:41Z- LcmTrn::cycle() - COVAR: 790.08 833.08 52.79 0.00 2020-12-09T06:39:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495981.81 epoch sec; seqNo:1491; 4061673.03 north; 594241.59 east 2020-12-09T06:39:41Z- waiting for 1607495984.80, time is 1607495981.80 2020-12-09T06:39:41Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:42Z- AHRS_M2 msg: 1607495982.20 epoch sec; seqNo:1444 2020-12-09T06:39:42Z- AHRS_M2 msg: 2.55 phi; 0.04 theta; -0.14 psi 2020-12-09T06:39:42Z- waiting for 1607495984.80, time is 1607495981.80 2020-12-09T06:39:42Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:42Z- handleDepth()-Depth_Keller msg: 50.19 epoch sec; seqNo:1607495982202; depth 0.00 2020-12-09T06:39:42Z- waiting for 1607495984.80, time is 1607495981.80 2020-12-09T06:39:42Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495982.22 epoch sec; seqNo:1492; 4061672.65 north; 594241.59 east 2020-12-09T06:39:42Z- waiting for 1607495984.80, time is 1607495981.80 2020-12-09T06:39:42Z- sync is 0.42, coherence is 2.00 2020-12-09T06:39:42Z- AHRS_M2 msg: 1607495982.60 epoch sec; seqNo:1445 2020-12-09T06:39:42Z- AHRS_M2 msg: 2.55 phi; 0.04 theta; -0.15 psi 2020-12-09T06:39:42Z- waiting for 1607495984.80, time is 1607495981.80 2020-12-09T06:39:42Z- sync is 0.80, coherence is 2.00 2020-12-09T06:39:42Z- handleDepth()-Depth_Keller msg: 50.18 epoch sec; seqNo:1607495982607; depth 0.00 2020-12-09T06:39:42Z- waiting for 1607495984.80, time is 1607495981.80 2020-12-09T06:39:42Z- sync is 0.80, coherence is 2.00 2020-12-09T06:39:42Z- handleDvl() - RDI_Pathfinder msg: 1607495982.62 epoch sec; seqNo:828 2020-12-09T06:39:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.41 , 49.19 , 44.70 , 43.88 2020-12-09T06:39:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.18 , 0.10 2020-12-09T06:39:42Z- waiting for 1607495984.80, time is 1607495982.62 2020-12-09T06:39:42Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495982.63 epoch sec; seqNo:1493; 4061672.29 north; 594242.82 east 2020-12-09T06:39:42Z- waiting for 1607495984.80, time is 1607495982.62 2020-12-09T06:39:42Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:42Z- AHRS_M2 msg: 1607495983.01 epoch sec; seqNo:1446 2020-12-09T06:39:42Z- AHRS_M2 msg: 2.55 phi; 0.04 theta; -0.16 psi 2020-12-09T06:39:42Z- waiting for 1607495984.80, time is 1607495982.62 2020-12-09T06:39:42Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:42Z- handleDepth()-Depth_Keller msg: 50.16 epoch sec; seqNo:1607495983024; depth 0.00 2020-12-09T06:39:42Z- waiting for 1607495984.80, time is 1607495982.62 2020-12-09T06:39:42Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:42Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:42Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:42Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:42Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:39:42Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:39:42Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:39:42Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:39:42Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:39:42Z- handleDvl() - RDI_Pathfinder msg: 1607495983.03 epoch sec; seqNo:829 2020-12-09T06:39:42Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:39:42Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.18 , 0.10 2020-12-09T06:39:42Z- waiting for 1607495984.80, time is 1607495983.03 2020-12-09T06:39:42Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495983.04 epoch sec; seqNo:1494; 4061672.29 north; 594242.82 east 2020-12-09T06:39:42Z- waiting for 1607495984.80, time is 1607495983.03 2020-12-09T06:39:42Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:43Z- AHRS_M2 msg: 1607495983.41 epoch sec; seqNo:1447 2020-12-09T06:39:43Z- AHRS_M2 msg: 2.55 phi; 0.04 theta; -0.17 psi 2020-12-09T06:39:43Z- waiting for 1607495984.80, time is 1607495983.03 2020-12-09T06:39:43Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:43Z- handleDepth()-Depth_Keller msg: 50.16 epoch sec; seqNo:1607495983414; depth 0.00 2020-12-09T06:39:43Z- waiting for 1607495984.80, time is 1607495983.03 2020-12-09T06:39:43Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:43Z- handleDvl() - RDI_Pathfinder msg: 1607495983.43 epoch sec; seqNo:830 2020-12-09T06:39:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 40.21 , 50.21 , 44.90 , 44.08 2020-12-09T06:39:43Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.18 , 0.08 2020-12-09T06:39:43Z- waiting for 1607495984.80, time is 1607495983.43 2020-12-09T06:39:43Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495983.45 epoch sec; seqNo:1495; 4061671.91 north; 594242.82 east 2020-12-09T06:39:43Z- waiting for 1607495984.80, time is 1607495983.43 2020-12-09T06:39:43Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:43Z- AHRS_M2 msg: 1607495983.81 epoch sec; seqNo:1448 2020-12-09T06:39:43Z- AHRS_M2 msg: 2.55 phi; 0.05 theta; -0.18 psi 2020-12-09T06:39:43Z- waiting for 1607495984.80, time is 1607495983.43 2020-12-09T06:39:43Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:43Z- handleDepth()-Depth_Keller msg: 50.12 epoch sec; seqNo:1607495983818; depth 0.00 2020-12-09T06:39:43Z- waiting for 1607495984.80, time is 1607495983.43 2020-12-09T06:39:43Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495983.83 epoch sec; seqNo:1496; 4061671.53 north; 594242.82 east 2020-12-09T06:39:43Z- waiting for 1607495984.80, time is 1607495983.43 2020-12-09T06:39:43Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:44Z- AHRS_M2 msg: 1607495984.22 epoch sec; seqNo:1449 2020-12-09T06:39:44Z- AHRS_M2 msg: 2.54 phi; 0.05 theta; -0.19 psi 2020-12-09T06:39:44Z- waiting for 1607495984.80, time is 1607495983.43 2020-12-09T06:39:44Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:44Z- handleDepth()-Depth_Keller msg: 50.11 epoch sec; seqNo:1607495984224; depth 0.00 2020-12-09T06:39:44Z- waiting for 1607495984.80, time is 1607495983.43 2020-12-09T06:39:44Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:44Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:44Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:44Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:44Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:39:44Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:39:44Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:39:44Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:39:44Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:39:44Z- handleDvl() - RDI_Pathfinder msg: 1607495984.23 epoch sec; seqNo:831 2020-12-09T06:39:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:39:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.18 , 0.08 2020-12-09T06:39:44Z- waiting for 1607495984.80, time is 1607495984.23 2020-12-09T06:39:44Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495984.24 epoch sec; seqNo:1497; 4061671.53 north; 594242.82 east 2020-12-09T06:39:44Z- waiting for 1607495984.80, time is 1607495984.23 2020-12-09T06:39:44Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:44Z- AHRS_M2 msg: 1607495984.62 epoch sec; seqNo:1450 2020-12-09T06:39:44Z- AHRS_M2 msg: 2.54 phi; 0.05 theta; -0.21 psi 2020-12-09T06:39:44Z- waiting for 1607495984.80, time is 1607495984.23 2020-12-09T06:39:44Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:44Z- handleDepth()-Depth_Keller msg: 50.09 epoch sec; seqNo:1607495984630; depth 0.00 2020-12-09T06:39:44Z- waiting for 1607495984.80, time is 1607495984.23 2020-12-09T06:39:44Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:44Z- handleDvl() - RDI_Pathfinder msg: 1607495984.65 epoch sec; seqNo:832 2020-12-09T06:39:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.80 , 51.63 , 45.51 , 44.70 2020-12-09T06:39:44Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.18 , 0.05 2020-12-09T06:39:44Z- waiting for 1607495984.80, time is 1607495984.65 2020-12-09T06:39:44Z- sync is 0.03, coherence is 2.00 2020-12-09T06:39:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495984.66 epoch sec; seqNo:1498; 4061671.16 north; 594244.05 east 2020-12-09T06:39:44Z- waiting for 1607495984.80, time is 1607495984.65 2020-12-09T06:39:44Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:44Z- AHRS_M2 msg: 1607495985.03 epoch sec; seqNo:1451 2020-12-09T06:39:44Z- AHRS_M2 msg: 2.54 phi; 0.05 theta; -0.22 psi 2020-12-09T06:39:44Z- waiting for 1607495984.80, time is 1607495984.65 2020-12-09T06:39:44Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:44Z- handleDepth()-Depth_Keller msg: 50.07 epoch sec; seqNo:1607495985034; depth 0.00 2020-12-09T06:39:44Z- waiting for 1607495984.80, time is 1607495984.65 2020-12-09T06:39:44Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495985.06 epoch sec; seqNo:1499; 4061670.78 north; 594244.05 east 2020-12-09T06:39:45Z- waiting for 1607495984.80, time is 1607495984.65 2020-12-09T06:39:45Z- sync is 0.41, coherence is 2.00 2020-12-09T06:39:45Z- AHRS_M2 msg: 1607495985.43 epoch sec; seqNo:1452 2020-12-09T06:39:45Z- AHRS_M2 msg: 2.53 phi; 0.05 theta; -0.23 psi 2020-12-09T06:39:45Z- waiting for 1607495984.80, time is 1607495984.65 2020-12-09T06:39:45Z- sync is 0.78, coherence is 2.00 2020-12-09T06:39:45Z- handleDepth()-Depth_Keller msg: 50.04 epoch sec; seqNo:1607495985434; depth 0.00 2020-12-09T06:39:45Z- waiting for 1607495984.80, time is 1607495984.65 2020-12-09T06:39:45Z- sync is 0.78, coherence is 2.00 2020-12-09T06:39:45Z- handleDvl() - RDI_Pathfinder msg: 1607495985.45 epoch sec; seqNo:833 2020-12-09T06:39:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.58 , 53.07 , 45.99 , 44.89 2020-12-09T06:39:45Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.16 , 0.01 2020-12-09T06:39:45Z- waiting for 1607495984.80, time is 1607495985.45 2020-12-09T06:39:45Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:45Z- LcmTrn::updateTrn() >>>> pose time 1607495985.43, meas time 1607495985.45 <<<< 2020-12-09T06:39:45Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495985.45 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:39:45Z- TerrainNav::motionUpdate() - currEstimate = (4061671, 594244.05, 50.04) 2020-12-09T06:39:45Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:39:45Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:39:45Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:39:45Z- TNavBF::mmse selected from filter -1 2020-12-09T06:39:45Z- variances([0], [2], and psi_berg) = 789.917006 833.083324 0.000000 2020-12-09T06:39:45Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:39:45Z- LcmTrn::cycle() - MLE : 4061644.28 594196.55 50.04 2020-12-09T06:39:45Z- LcmTrn::cycle() - MMSE : 4061670.78 594244.05 50.04 2020-12-09T06:39:45Z- LcmTrn::cycle() - COVAR: 789.92 833.08 52.96 0.00 2020-12-09T06:39:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495985.46 epoch sec; seqNo:1500; 4061670.41 north; 594244.06 east 2020-12-09T06:39:45Z- waiting for 1607495988.45, time is 1607495985.45 2020-12-09T06:39:45Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:45Z- AHRS_M2 msg: 1607495985.84 epoch sec; seqNo:1453 2020-12-09T06:39:45Z- AHRS_M2 msg: 2.53 phi; 0.05 theta; -0.24 psi 2020-12-09T06:39:45Z- waiting for 1607495988.45, time is 1607495985.45 2020-12-09T06:39:45Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:45Z- handleDepth()-Depth_Keller msg: 50.03 epoch sec; seqNo:1607495985842; depth 0.00 2020-12-09T06:39:45Z- waiting for 1607495988.45, time is 1607495985.45 2020-12-09T06:39:45Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495985.86 epoch sec; seqNo:1501; 4061670.41 north; 594244.06 east 2020-12-09T06:39:45Z- waiting for 1607495988.45, time is 1607495985.45 2020-12-09T06:39:45Z- sync is 0.41, coherence is 2.00 2020-12-09T06:39:46Z- AHRS_M2 msg: 1607495986.24 epoch sec; seqNo:1454 2020-12-09T06:39:46Z- AHRS_M2 msg: 2.53 phi; 0.05 theta; -0.25 psi 2020-12-09T06:39:46Z- waiting for 1607495988.45, time is 1607495985.45 2020-12-09T06:39:46Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:46Z- handleDepth()-Depth_Keller msg: 50.00 epoch sec; seqNo:1607495986258; depth 0.00 2020-12-09T06:39:46Z- waiting for 1607495988.45, time is 1607495985.45 2020-12-09T06:39:46Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495986.28 epoch sec; seqNo:1502; 4061670.04 north; 594245.28 east 2020-12-09T06:39:46Z- waiting for 1607495988.45, time is 1607495985.45 2020-12-09T06:39:46Z- sync is 0.83, coherence is 2.00 2020-12-09T06:39:46Z- AHRS_M2 msg: 1607495986.64 epoch sec; seqNo:1455 2020-12-09T06:39:46Z- AHRS_M2 msg: 2.52 phi; 0.05 theta; -0.25 psi 2020-12-09T06:39:46Z- waiting for 1607495988.45, time is 1607495985.45 2020-12-09T06:39:46Z- sync is 1.19, coherence is 2.00 2020-12-09T06:39:46Z- handleDepth()-Depth_Keller msg: 49.98 epoch sec; seqNo:1607495986646; depth 0.00 2020-12-09T06:39:46Z- waiting for 1607495988.45, time is 1607495985.45 2020-12-09T06:39:46Z- sync is 1.19, coherence is 2.00 2020-12-09T06:39:46Z- handleDvl() - RDI_Pathfinder msg: 1607495986.66 epoch sec; seqNo:834 2020-12-09T06:39:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.14 , 53.73 , 45.99 , 44.89 2020-12-09T06:39:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.12 , -0.04 2020-12-09T06:39:46Z- waiting for 1607495988.45, time is 1607495986.66 2020-12-09T06:39:46Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495986.68 epoch sec; seqNo:1503; 4061669.66 north; 594245.29 east 2020-12-09T06:39:46Z- waiting for 1607495988.45, time is 1607495986.66 2020-12-09T06:39:46Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:46Z- AHRS_M2 msg: 1607495987.05 epoch sec; seqNo:1456 2020-12-09T06:39:46Z- AHRS_M2 msg: 2.52 phi; 0.05 theta; -0.26 psi 2020-12-09T06:39:46Z- waiting for 1607495988.45, time is 1607495986.66 2020-12-09T06:39:46Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:46Z- handleDepth()-Depth_Keller msg: 49.94 epoch sec; seqNo:1607495987055; depth 0.00 2020-12-09T06:39:46Z- waiting for 1607495988.45, time is 1607495986.66 2020-12-09T06:39:46Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495987.07 epoch sec; seqNo:1504; 4061669.66 north; 594245.29 east 2020-12-09T06:39:47Z- waiting for 1607495988.45, time is 1607495986.66 2020-12-09T06:39:47Z- sync is 0.41, coherence is 2.00 2020-12-09T06:39:47Z- AHRS_M2 msg: 1607495987.45 epoch sec; seqNo:1457 2020-12-09T06:39:47Z- AHRS_M2 msg: 2.51 phi; 0.04 theta; -0.27 psi 2020-12-09T06:39:47Z- waiting for 1607495988.45, time is 1607495986.66 2020-12-09T06:39:47Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:47Z- handleDepth()-Depth_Keller msg: 49.92 epoch sec; seqNo:1607495987456; depth 0.00 2020-12-09T06:39:47Z- waiting for 1607495988.45, time is 1607495986.66 2020-12-09T06:39:47Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:47Z- handleDvl() - RDI_Pathfinder msg: 1607495987.47 epoch sec; seqNo:835 2020-12-09T06:39:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.91 , 54.61 , 46.21 , 44.88 2020-12-09T06:39:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.07 , -0.09 2020-12-09T06:39:47Z- waiting for 1607495988.45, time is 1607495987.47 2020-12-09T06:39:47Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495987.48 epoch sec; seqNo:1505; 4061669.28 north; 594245.29 east 2020-12-09T06:39:47Z- waiting for 1607495988.45, time is 1607495987.47 2020-12-09T06:39:47Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:47Z- AHRS_M2 msg: 1607495987.85 epoch sec; seqNo:1458 2020-12-09T06:39:47Z- AHRS_M2 msg: 2.50 phi; 0.04 theta; -0.28 psi 2020-12-09T06:39:47Z- waiting for 1607495988.45, time is 1607495987.47 2020-12-09T06:39:47Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:47Z- handleDepth()-Depth_Keller msg: 49.89 epoch sec; seqNo:1607495987858; depth 0.00 2020-12-09T06:39:47Z- waiting for 1607495988.45, time is 1607495987.47 2020-12-09T06:39:47Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:47Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:47Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:47Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:47Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:39:47Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:39:47Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:39:47Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:39:47Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:39:47Z- handleDvl() - RDI_Pathfinder msg: 1607495987.86 epoch sec; seqNo:836 2020-12-09T06:39:47Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:39:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.07 , -0.09 2020-12-09T06:39:47Z- waiting for 1607495988.45, time is 1607495987.86 2020-12-09T06:39:47Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495987.91 epoch sec; seqNo:1506; 4061668.90 north; 594245.29 east 2020-12-09T06:39:47Z- waiting for 1607495988.45, time is 1607495987.86 2020-12-09T06:39:47Z- sync is 0.05, coherence is 2.00 2020-12-09T06:39:48Z- AHRS_M2 msg: 1607495988.26 epoch sec; seqNo:1459 2020-12-09T06:39:48Z- AHRS_M2 msg: 2.49 phi; 0.04 theta; -0.28 psi 2020-12-09T06:39:48Z- waiting for 1607495988.45, time is 1607495987.86 2020-12-09T06:39:48Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:48Z- handleDepth()-Depth_Keller msg: 49.85 epoch sec; seqNo:1607495988271; depth 0.00 2020-12-09T06:39:48Z- waiting for 1607495988.45, time is 1607495987.86 2020-12-09T06:39:48Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495988.31 epoch sec; seqNo:1507; 4061668.54 north; 594246.52 east 2020-12-09T06:39:48Z- waiting for 1607495988.45, time is 1607495987.86 2020-12-09T06:39:48Z- sync is 0.45, coherence is 2.00 2020-12-09T06:39:48Z- AHRS_M2 msg: 1607495988.66 epoch sec; seqNo:1460 2020-12-09T06:39:48Z- AHRS_M2 msg: 2.48 phi; 0.04 theta; -0.29 psi 2020-12-09T06:39:48Z- waiting for 1607495988.45, time is 1607495987.86 2020-12-09T06:39:48Z- sync is 0.80, coherence is 2.00 2020-12-09T06:39:48Z- handleDepth()-Depth_Keller msg: 49.84 epoch sec; seqNo:1607495988666; depth 0.00 2020-12-09T06:39:48Z- waiting for 1607495988.45, time is 1607495987.86 2020-12-09T06:39:48Z- sync is 0.80, coherence is 2.00 2020-12-09T06:39:48Z- handleDvl() - RDI_Pathfinder msg: 1607495988.68 epoch sec; seqNo:837 2020-12-09T06:39:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.69 , 55.72 , 46.43 , 45.33 2020-12-09T06:39:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.02 , -0.10 2020-12-09T06:39:48Z- waiting for 1607495988.45, time is 1607495988.68 2020-12-09T06:39:48Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:48Z- LcmTrn::updateTrn() >>>> pose time 1607495988.66, meas time 1607495988.68 <<<< 2020-12-09T06:39:48Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495988.68 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:39:48Z- TerrainNav::motionUpdate() - currEstimate = (4061669, 594246.52, 49.84) 2020-12-09T06:39:48Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:39:48Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:39:48Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:39:48Z- TNavBF::mmse selected from filter -1 2020-12-09T06:39:48Z- variances([0], [2], and psi_berg) = 789.750063 833.083035 0.000000 2020-12-09T06:39:48Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:39:48Z- LcmTrn::cycle() - MLE : 4061642.04 594199.02 49.84 2020-12-09T06:39:48Z- LcmTrn::cycle() - MMSE : 4061668.54 594246.52 49.84 2020-12-09T06:39:48Z- LcmTrn::cycle() - COVAR: 789.75 833.08 53.13 0.00 2020-12-09T06:39:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495988.69 epoch sec; seqNo:1508; 4061668.54 north; 594246.52 east 2020-12-09T06:39:48Z- waiting for 1607495991.68, time is 1607495988.68 2020-12-09T06:39:48Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:49Z- AHRS_M2 msg: 1607495989.07 epoch sec; seqNo:1461 2020-12-09T06:39:49Z- AHRS_M2 msg: 2.47 phi; 0.04 theta; -0.30 psi 2020-12-09T06:39:49Z- waiting for 1607495991.68, time is 1607495988.68 2020-12-09T06:39:49Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:49Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1607495989074; depth 0.00 2020-12-09T06:39:49Z- waiting for 1607495991.68, time is 1607495988.68 2020-12-09T06:39:49Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:49Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:49Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:49Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:49Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:39:49Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:39:49Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:39:49Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:39:49Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:39:49Z- handleDvl() - RDI_Pathfinder msg: 1607495989.08 epoch sec; seqNo:838 2020-12-09T06:39:49Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:39:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.02 , -0.10 2020-12-09T06:39:49Z- waiting for 1607495991.68, time is 1607495989.08 2020-12-09T06:39:49Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495989.09 epoch sec; seqNo:1509; 4061668.16 north; 594246.52 east 2020-12-09T06:39:49Z- waiting for 1607495991.68, time is 1607495989.08 2020-12-09T06:39:49Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:49Z- AHRS_M2 msg: 1607495989.47 epoch sec; seqNo:1462 2020-12-09T06:39:49Z- AHRS_M2 msg: 2.46 phi; 0.04 theta; -0.31 psi 2020-12-09T06:39:49Z- waiting for 1607495991.68, time is 1607495989.08 2020-12-09T06:39:49Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:49Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1607495989474; depth 0.00 2020-12-09T06:39:49Z- waiting for 1607495991.68, time is 1607495989.08 2020-12-09T06:39:49Z- sync is 0.39, coherence is 2.00 2020-12-09T06:39:49Z- handleDvl() - RDI_Pathfinder msg: 1607495989.49 epoch sec; seqNo:839 2020-12-09T06:39:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.69 , 56.60 , 46.87 , 45.77 2020-12-09T06:39:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , 0.04 , -0.10 2020-12-09T06:39:49Z- waiting for 1607495991.68, time is 1607495989.49 2020-12-09T06:39:49Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495989.51 epoch sec; seqNo:1510; 4061667.78 north; 594246.53 east 2020-12-09T06:39:49Z- waiting for 1607495991.68, time is 1607495989.49 2020-12-09T06:39:49Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:49Z- handleDepth()-Depth_Keller msg: 49.75 epoch sec; seqNo:1607495989894; depth 0.00 2020-12-09T06:39:49Z- waiting for 1607495991.68, time is 1607495989.49 2020-12-09T06:39:49Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495989.91 epoch sec; seqNo:1511; 4061667.40 north; 594246.53 east 2020-12-09T06:39:49Z- waiting for 1607495991.68, time is 1607495989.49 2020-12-09T06:39:49Z- sync is 0.42, coherence is 2.00 2020-12-09T06:39:50Z- AHRS_M2 msg: 1607495990.31 epoch sec; seqNo:1463 2020-12-09T06:39:50Z- AHRS_M2 msg: 2.42 phi; 0.03 theta; -0.32 psi 2020-12-09T06:39:50Z- waiting for 1607495991.68, time is 1607495989.49 2020-12-09T06:39:50Z- sync is 0.81, coherence is 2.00 2020-12-09T06:39:50Z- handleDepth()-Depth_Keller msg: 49.73 epoch sec; seqNo:1607495990315; depth 0.00 2020-12-09T06:39:50Z- waiting for 1607495991.68, time is 1607495989.49 2020-12-09T06:39:50Z- sync is 0.81, coherence is 2.00 2020-12-09T06:39:50Z- handleDvl() - RDI_Pathfinder msg: 1607495990.34 epoch sec; seqNo:840 2020-12-09T06:39:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.47 , 57.71 , 46.87 , 45.99 2020-12-09T06:39:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , 0.05 , -0.08 2020-12-09T06:39:50Z- waiting for 1607495991.68, time is 1607495990.34 2020-12-09T06:39:50Z- sync is 0.03, coherence is 2.00 2020-12-09T06:39:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495990.36 epoch sec; seqNo:1512; 4061667.41 north; 594247.75 east 2020-12-09T06:39:50Z- waiting for 1607495991.68, time is 1607495990.34 2020-12-09T06:39:50Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:50Z- handleDepth()-Depth_Keller msg: 49.70 epoch sec; seqNo:1607495990706; depth 0.00 2020-12-09T06:39:50Z- waiting for 1607495991.68, time is 1607495990.34 2020-12-09T06:39:50Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495990.72 epoch sec; seqNo:1513; 4061667.04 north; 594247.75 east 2020-12-09T06:39:50Z- waiting for 1607495991.68, time is 1607495990.34 2020-12-09T06:39:50Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:51Z- AHRS_M2 msg: 1607495991.09 epoch sec; seqNo:1464 2020-12-09T06:39:51Z- AHRS_M2 msg: 2.41 phi; 0.03 theta; -0.33 psi 2020-12-09T06:39:51Z- waiting for 1607495991.68, time is 1607495990.34 2020-12-09T06:39:51Z- sync is 0.75, coherence is 2.00 2020-12-09T06:39:51Z- handleDepth()-Depth_Keller msg: 49.68 epoch sec; seqNo:1607495991107; depth 0.00 2020-12-09T06:39:51Z- waiting for 1607495991.68, time is 1607495990.34 2020-12-09T06:39:51Z- sync is 0.75, coherence is 2.00 2020-12-09T06:39:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495991.12 epoch sec; seqNo:1514; 4061666.66 north; 594247.76 east 2020-12-09T06:39:51Z- waiting for 1607495991.68, time is 1607495990.34 2020-12-09T06:39:51Z- sync is 0.78, coherence is 2.00 2020-12-09T06:39:51Z- AHRS_M2 msg: 1607495991.50 epoch sec; seqNo:1465 2020-12-09T06:39:51Z- AHRS_M2 msg: 2.39 phi; 0.03 theta; -0.33 psi 2020-12-09T06:39:51Z- waiting for 1607495991.68, time is 1607495990.34 2020-12-09T06:39:51Z- sync is 1.16, coherence is 2.00 2020-12-09T06:39:51Z- handleDepth()-Depth_Keller msg: 49.67 epoch sec; seqNo:1607495991500; depth 0.00 2020-12-09T06:39:51Z- waiting for 1607495991.68, time is 1607495990.34 2020-12-09T06:39:51Z- sync is 1.16, coherence is 2.00 2020-12-09T06:39:51Z- handleDvl() - RDI_Pathfinder msg: 1607495991.51 epoch sec; seqNo:841 2020-12-09T06:39:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.47 , 57.71 , 46.43 , 45.99 2020-12-09T06:39:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , 0.05 , -0.05 2020-12-09T06:39:51Z- waiting for 1607495991.68, time is 1607495991.51 2020-12-09T06:39:51Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495991.54 epoch sec; seqNo:1515; 4061666.66 north; 594247.76 east 2020-12-09T06:39:51Z- waiting for 1607495991.68, time is 1607495991.51 2020-12-09T06:39:51Z- sync is 0.03, coherence is 2.00 2020-12-09T06:39:51Z- AHRS_M2 msg: 1607495991.90 epoch sec; seqNo:1466 2020-12-09T06:39:51Z- AHRS_M2 msg: 2.37 phi; 0.03 theta; -0.33 psi 2020-12-09T06:39:51Z- waiting for 1607495991.68, time is 1607495991.51 2020-12-09T06:39:51Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:51Z- handleDepth()-Depth_Keller msg: 49.66 epoch sec; seqNo:1607495991903; depth 0.00 2020-12-09T06:39:51Z- waiting for 1607495991.68, time is 1607495991.51 2020-12-09T06:39:51Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495991.92 epoch sec; seqNo:1516; 4061666.28 north; 594247.76 east 2020-12-09T06:39:51Z- waiting for 1607495991.68, time is 1607495991.51 2020-12-09T06:39:51Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:52Z- AHRS_M2 msg: 1607495992.32 epoch sec; seqNo:1467 2020-12-09T06:39:52Z- AHRS_M2 msg: 2.36 phi; 0.02 theta; -0.33 psi 2020-12-09T06:39:52Z- waiting for 1607495991.68, time is 1607495991.51 2020-12-09T06:39:52Z- sync is 0.80, coherence is 2.00 2020-12-09T06:39:52Z- handleDepth()-Depth_Keller msg: 49.65 epoch sec; seqNo:1607495992324; depth 0.00 2020-12-09T06:39:52Z- waiting for 1607495991.68, time is 1607495991.51 2020-12-09T06:39:52Z- sync is 0.80, coherence is 2.00 2020-12-09T06:39:52Z- handleDvl() - RDI_Pathfinder msg: 1607495992.34 epoch sec; seqNo:842 2020-12-09T06:39:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.47 , 57.93 , 46.43 , 46.43 2020-12-09T06:39:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , 0.03 , 0.00 2020-12-09T06:39:52Z- waiting for 1607495991.68, time is 1607495992.34 2020-12-09T06:39:52Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:52Z- LcmTrn::updateTrn() >>>> pose time 1607495992.32, meas time 1607495992.34 <<<< 2020-12-09T06:39:52Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495992.34 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:39:52Z- TerrainNav::motionUpdate() - currEstimate = (4061666, 594247.76, 49.65) 2020-12-09T06:39:52Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:39:52Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:39:52Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:39:52Z- TNavBF::mmse selected from filter -1 2020-12-09T06:39:52Z- variances([0], [2], and psi_berg) = 789.603710 833.082782 0.000000 2020-12-09T06:39:52Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:39:52Z- LcmTrn::cycle() - MLE : 4061639.78 594200.26 49.65 2020-12-09T06:39:52Z- LcmTrn::cycle() - MMSE : 4061666.28 594247.76 49.65 2020-12-09T06:39:52Z- LcmTrn::cycle() - COVAR: 789.60 833.08 53.26 0.00 2020-12-09T06:39:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495992.35 epoch sec; seqNo:1517; 4061665.90 north; 594247.77 east 2020-12-09T06:39:52Z- waiting for 1607495995.34, time is 1607495992.34 2020-12-09T06:39:52Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:52Z- AHRS_M2 msg: 1607495992.70 epoch sec; seqNo:1468 2020-12-09T06:39:52Z- AHRS_M2 msg: 2.35 phi; 0.02 theta; -0.33 psi 2020-12-09T06:39:52Z- waiting for 1607495995.34, time is 1607495992.34 2020-12-09T06:39:52Z- sync is 0.36, coherence is 2.00 2020-12-09T06:39:52Z- handleDepth()-Depth_Keller msg: 49.64 epoch sec; seqNo:1607495992710; depth 0.00 2020-12-09T06:39:52Z- waiting for 1607495995.34, time is 1607495992.34 2020-12-09T06:39:52Z- sync is 0.36, coherence is 2.00 2020-12-09T06:39:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495992.74 epoch sec; seqNo:1518; 4061665.91 north; 594248.99 east 2020-12-09T06:39:52Z- waiting for 1607495995.34, time is 1607495992.34 2020-12-09T06:39:52Z- sync is 0.41, coherence is 2.00 2020-12-09T06:39:53Z- AHRS_M2 msg: 1607495993.11 epoch sec; seqNo:1469 2020-12-09T06:39:53Z- AHRS_M2 msg: 2.33 phi; 0.02 theta; -0.33 psi 2020-12-09T06:39:53Z- waiting for 1607495995.34, time is 1607495992.34 2020-12-09T06:39:53Z- sync is 0.77, coherence is 2.00 2020-12-09T06:39:53Z- handleDepth()-Depth_Keller msg: 49.65 epoch sec; seqNo:1607495993110; depth 0.00 2020-12-09T06:39:53Z- waiting for 1607495995.34, time is 1607495992.34 2020-12-09T06:39:53Z- sync is 0.77, coherence is 2.00 2020-12-09T06:39:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495993.12 epoch sec; seqNo:1519; 4061665.53 north; 594248.99 east 2020-12-09T06:39:53Z- waiting for 1607495995.34, time is 1607495992.34 2020-12-09T06:39:53Z- sync is 0.78, coherence is 2.00 2020-12-09T06:39:53Z- AHRS_M2 msg: 1607495993.51 epoch sec; seqNo:1470 2020-12-09T06:39:53Z- AHRS_M2 msg: 2.32 phi; 0.02 theta; -0.34 psi 2020-12-09T06:39:53Z- waiting for 1607495995.34, time is 1607495992.34 2020-12-09T06:39:53Z- sync is 1.17, coherence is 2.00 2020-12-09T06:39:53Z- handleDepth()-Depth_Keller msg: 49.64 epoch sec; seqNo:1607495993519; depth 0.00 2020-12-09T06:39:53Z- waiting for 1607495995.34, time is 1607495992.34 2020-12-09T06:39:53Z- sync is 1.17, coherence is 2.00 2020-12-09T06:39:53Z- handleDvl() - RDI_Pathfinder msg: 1607495993.53 epoch sec; seqNo:843 2020-12-09T06:39:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.47 , 58.37 , 46.21 , 46.65 2020-12-09T06:39:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , 0.01 , 0.05 2020-12-09T06:39:53Z- waiting for 1607495995.34, time is 1607495993.53 2020-12-09T06:39:53Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495993.54 epoch sec; seqNo:1520; 4061665.53 north; 594248.99 east 2020-12-09T06:39:53Z- waiting for 1607495995.34, time is 1607495993.53 2020-12-09T06:39:53Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:53Z- AHRS_M2 msg: 1607495993.91 epoch sec; seqNo:1471 2020-12-09T06:39:53Z- AHRS_M2 msg: 2.30 phi; 0.02 theta; -0.34 psi 2020-12-09T06:39:53Z- waiting for 1607495995.34, time is 1607495993.53 2020-12-09T06:39:53Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:53Z- handleDepth()-Depth_Keller msg: 49.65 epoch sec; seqNo:1607495993918; depth 0.00 2020-12-09T06:39:53Z- waiting for 1607495995.34, time is 1607495993.53 2020-12-09T06:39:53Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495993.94 epoch sec; seqNo:1521; 4061665.15 north; 594249.00 east 2020-12-09T06:39:53Z- waiting for 1607495995.34, time is 1607495993.53 2020-12-09T06:39:53Z- sync is 0.41, coherence is 2.00 2020-12-09T06:39:54Z- AHRS_M2 msg: 1607495994.32 epoch sec; seqNo:1472 2020-12-09T06:39:54Z- AHRS_M2 msg: 2.29 phi; 0.02 theta; -0.34 psi 2020-12-09T06:39:54Z- waiting for 1607495995.34, time is 1607495993.53 2020-12-09T06:39:54Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:54Z- handleDepth()-Depth_Keller msg: 49.64 epoch sec; seqNo:1607495994334; depth 0.00 2020-12-09T06:39:54Z- waiting for 1607495995.34, time is 1607495993.53 2020-12-09T06:39:54Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:54Z- handleDvl() - RDI_Pathfinder msg: 1607495994.35 epoch sec; seqNo:844 2020-12-09T06:39:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.47 , 59.03 , 46.43 , 47.09 2020-12-09T06:39:54Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.01 , 0.09 2020-12-09T06:39:54Z- waiting for 1607495995.34, time is 1607495994.35 2020-12-09T06:39:54Z- sync is 0.03, coherence is 2.00 2020-12-09T06:39:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495994.37 epoch sec; seqNo:1522; 4061664.78 north; 594249.00 east 2020-12-09T06:39:54Z- waiting for 1607495995.34, time is 1607495994.35 2020-12-09T06:39:54Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:54Z- AHRS_M2 msg: 1607495994.72 epoch sec; seqNo:1473 2020-12-09T06:39:54Z- AHRS_M2 msg: 2.28 phi; 0.02 theta; -0.34 psi 2020-12-09T06:39:54Z- waiting for 1607495995.34, time is 1607495994.35 2020-12-09T06:39:54Z- sync is 0.37, coherence is 2.00 2020-12-09T06:39:54Z- handleDepth()-Depth_Keller msg: 49.66 epoch sec; seqNo:1607495994735; depth 0.00 2020-12-09T06:39:54Z- waiting for 1607495995.34, time is 1607495994.35 2020-12-09T06:39:54Z- sync is 0.37, coherence is 2.00 2020-12-09T06:39:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495994.75 epoch sec; seqNo:1523; 4061664.79 north; 594250.22 east 2020-12-09T06:39:54Z- waiting for 1607495995.34, time is 1607495994.35 2020-12-09T06:39:54Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:55Z- AHRS_M2 msg: 1607495995.12 epoch sec; seqNo:1474 2020-12-09T06:39:55Z- AHRS_M2 msg: 2.26 phi; 0.01 theta; -0.34 psi 2020-12-09T06:39:55Z- waiting for 1607495995.34, time is 1607495994.35 2020-12-09T06:39:55Z- sync is 0.78, coherence is 2.00 2020-12-09T06:39:55Z- handleDepth()-Depth_Keller msg: 49.68 epoch sec; seqNo:1607495995129; depth 0.00 2020-12-09T06:39:55Z- waiting for 1607495995.34, time is 1607495994.35 2020-12-09T06:39:55Z- sync is 0.78, coherence is 2.00 2020-12-09T06:39:55Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:55Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:55Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:55Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:39:55Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:39:55Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:39:55Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:39:55Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:39:55Z- handleDvl() - RDI_Pathfinder msg: 1607495995.13 epoch sec; seqNo:845 2020-12-09T06:39:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:39:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.01 , 0.09 2020-12-09T06:39:55Z- waiting for 1607495995.34, time is 1607495995.13 2020-12-09T06:39:55Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495995.15 epoch sec; seqNo:1524; 4061664.41 north; 594250.22 east 2020-12-09T06:39:55Z- waiting for 1607495995.34, time is 1607495995.13 2020-12-09T06:39:55Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:55Z- AHRS_M2 msg: 1607495995.53 epoch sec; seqNo:1475 2020-12-09T06:39:55Z- AHRS_M2 msg: 2.25 phi; 0.01 theta; -0.35 psi 2020-12-09T06:39:55Z- waiting for 1607495995.34, time is 1607495995.13 2020-12-09T06:39:55Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:55Z- handleDepth()-Depth_Keller msg: 49.66 epoch sec; seqNo:1607495995534; depth 0.00 2020-12-09T06:39:55Z- waiting for 1607495995.34, time is 1607495995.13 2020-12-09T06:39:55Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:55Z- handleDvl() - RDI_Pathfinder msg: 1607495995.55 epoch sec; seqNo:846 2020-12-09T06:39:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.70 , 59.26 , 46.66 , 47.54 2020-12-09T06:39:55Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.06 , 0.12 2020-12-09T06:39:55Z- waiting for 1607495995.34, time is 1607495995.55 2020-12-09T06:39:55Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:55Z- LcmTrn::updateTrn() >>>> pose time 1607495995.53, meas time 1607495995.55 <<<< 2020-12-09T06:39:55Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495995.55 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:39:55Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594250.22, 49.66) 2020-12-09T06:39:55Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:39:55Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:39:55Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:39:55Z- TNavBF::mmse selected from filter -1 2020-12-09T06:39:55Z- variances([0], [2], and psi_berg) = 789.444006 833.082507 0.000000 2020-12-09T06:39:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:39:55Z- LcmTrn::cycle() - MLE : 4061637.91 594202.72 49.66 2020-12-09T06:39:55Z- LcmTrn::cycle() - MMSE : 4061664.41 594250.22 49.66 2020-12-09T06:39:55Z- LcmTrn::cycle() - COVAR: 789.44 833.08 53.42 0.00 2020-12-09T06:39:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495995.58 epoch sec; seqNo:1525; 4061664.41 north; 594250.22 east 2020-12-09T06:39:55Z- waiting for 1607495998.55, time is 1607495995.55 2020-12-09T06:39:55Z- sync is 0.03, coherence is 2.00 2020-12-09T06:39:55Z- AHRS_M2 msg: 1607495995.93 epoch sec; seqNo:1476 2020-12-09T06:39:55Z- AHRS_M2 msg: 2.23 phi; 0.01 theta; -0.35 psi 2020-12-09T06:39:55Z- waiting for 1607495998.55, time is 1607495995.55 2020-12-09T06:39:55Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:55Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1607495995942; depth 0.00 2020-12-09T06:39:55Z- waiting for 1607495998.55, time is 1607495995.55 2020-12-09T06:39:55Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495995.95 epoch sec; seqNo:1526; 4061664.03 north; 594250.23 east 2020-12-09T06:39:55Z- waiting for 1607495998.55, time is 1607495995.55 2020-12-09T06:39:55Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:56Z- AHRS_M2 msg: 1607495996.34 epoch sec; seqNo:1477 2020-12-09T06:39:56Z- AHRS_M2 msg: 2.22 phi; 0.01 theta; -0.35 psi 2020-12-09T06:39:56Z- waiting for 1607495998.55, time is 1607495995.55 2020-12-09T06:39:56Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:56Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1607495996350; depth 0.00 2020-12-09T06:39:56Z- waiting for 1607495998.55, time is 1607495995.55 2020-12-09T06:39:56Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:56Z- handleDvl() - RDI_Pathfinder msg: 1607495996.36 epoch sec; seqNo:847 2020-12-09T06:39:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.70 , 59.48 , 46.66 , 47.76 2020-12-09T06:39:56Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.09 , 0.13 2020-12-09T06:39:56Z- waiting for 1607495998.55, time is 1607495996.36 2020-12-09T06:39:56Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495996.38 epoch sec; seqNo:1527; 4061664.03 north; 594250.23 east 2020-12-09T06:39:56Z- waiting for 1607495998.55, time is 1607495996.36 2020-12-09T06:39:56Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:56Z- AHRS_M2 msg: 1607495996.74 epoch sec; seqNo:1478 2020-12-09T06:39:56Z- AHRS_M2 msg: 2.21 phi; 0.01 theta; -0.35 psi 2020-12-09T06:39:56Z- waiting for 1607495998.55, time is 1607495996.36 2020-12-09T06:39:56Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:56Z- handleDepth()-Depth_Keller msg: 49.72 epoch sec; seqNo:1607495996750; depth 0.00 2020-12-09T06:39:56Z- waiting for 1607495998.55, time is 1607495996.36 2020-12-09T06:39:56Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495996.77 epoch sec; seqNo:1528; 4061663.67 north; 594251.45 east 2020-12-09T06:39:56Z- waiting for 1607495998.55, time is 1607495996.36 2020-12-09T06:39:56Z- sync is 0.41, coherence is 2.00 2020-12-09T06:39:57Z- AHRS_M2 msg: 1607495997.15 epoch sec; seqNo:1479 2020-12-09T06:39:57Z- AHRS_M2 msg: 2.19 phi; 0.00 theta; -0.35 psi 2020-12-09T06:39:57Z- waiting for 1607495998.55, time is 1607495996.36 2020-12-09T06:39:57Z- sync is 0.78, coherence is 2.00 2020-12-09T06:39:57Z- handleDepth()-Depth_Keller msg: 49.72 epoch sec; seqNo:1607495997152; depth 0.00 2020-12-09T06:39:57Z- waiting for 1607495998.55, time is 1607495996.36 2020-12-09T06:39:57Z- sync is 0.78, coherence is 2.00 2020-12-09T06:39:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495997.16 epoch sec; seqNo:1529; 4061663.67 north; 594251.45 east 2020-12-09T06:39:57Z- waiting for 1607495998.55, time is 1607495996.36 2020-12-09T06:39:57Z- sync is 0.80, coherence is 2.00 2020-12-09T06:39:57Z- AHRS_M2 msg: 1607495997.55 epoch sec; seqNo:1480 2020-12-09T06:39:57Z- AHRS_M2 msg: 2.18 phi; 0.00 theta; -0.35 psi 2020-12-09T06:39:57Z- waiting for 1607495998.55, time is 1607495996.36 2020-12-09T06:39:57Z- sync is 1.19, coherence is 2.00 2020-12-09T06:39:57Z- handleDepth()-Depth_Keller msg: 49.73 epoch sec; seqNo:1607495997558; depth 0.00 2020-12-09T06:39:57Z- waiting for 1607495998.55, time is 1607495996.36 2020-12-09T06:39:57Z- sync is 1.19, coherence is 2.00 2020-12-09T06:39:57Z- handleDvl() - RDI_Pathfinder msg: 1607495997.57 epoch sec; seqNo:848 2020-12-09T06:39:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.69 , 59.70 , 46.21 , 47.98 2020-12-09T06:39:57Z- handleDvl() - RDI_Pathfinder msg: velocities 0.90 , -0.14 , 0.12 2020-12-09T06:39:57Z- waiting for 1607495998.55, time is 1607495997.57 2020-12-09T06:39:57Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495997.58 epoch sec; seqNo:1530; 4061663.29 north; 594251.46 east 2020-12-09T06:39:57Z- waiting for 1607495998.55, time is 1607495997.57 2020-12-09T06:39:57Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:57Z- AHRS_M2 msg: 1607495997.95 epoch sec; seqNo:1481 2020-12-09T06:39:57Z- AHRS_M2 msg: 2.17 phi; 0.00 theta; -0.35 psi 2020-12-09T06:39:57Z- waiting for 1607495998.55, time is 1607495997.57 2020-12-09T06:39:57Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:57Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1607495997964; depth 0.00 2020-12-09T06:39:57Z- waiting for 1607495998.55, time is 1607495997.57 2020-12-09T06:39:57Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495997.98 epoch sec; seqNo:1531; 4061663.29 north; 594251.46 east 2020-12-09T06:39:57Z- waiting for 1607495998.55, time is 1607495997.57 2020-12-09T06:39:57Z- sync is 0.41, coherence is 2.00 2020-12-09T06:39:58Z- AHRS_M2 msg: 1607495998.36 epoch sec; seqNo:1482 2020-12-09T06:39:58Z- AHRS_M2 msg: 2.15 phi; 0.00 theta; -0.35 psi 2020-12-09T06:39:58Z- waiting for 1607495998.55, time is 1607495997.57 2020-12-09T06:39:58Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:58Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1607495998363; depth 0.00 2020-12-09T06:39:58Z- waiting for 1607495998.55, time is 1607495997.57 2020-12-09T06:39:58Z- sync is 0.79, coherence is 2.00 2020-12-09T06:39:58Z- handleDvl() - RDI_Pathfinder msg: 1607495998.38 epoch sec; seqNo:849 2020-12-09T06:39:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.91 , 2.00 , 46.21 , 48.42 2020-12-09T06:39:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.13 , 0.10 2020-12-09T06:39:58Z- waiting for 1607495998.55, time is 1607495998.38 2020-12-09T06:39:58Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495998.39 epoch sec; seqNo:1532; 4061662.92 north; 594252.68 east 2020-12-09T06:39:58Z- waiting for 1607495998.55, time is 1607495998.38 2020-12-09T06:39:58Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:58Z- AHRS_M2 msg: 1607495998.76 epoch sec; seqNo:1483 2020-12-09T06:39:58Z- AHRS_M2 msg: 2.14 phi; 0.00 theta; -0.35 psi 2020-12-09T06:39:58Z- waiting for 1607495998.55, time is 1607495998.38 2020-12-09T06:39:58Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:58Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1607495998766; depth 0.00 2020-12-09T06:39:58Z- waiting for 1607495998.55, time is 1607495998.38 2020-12-09T06:39:58Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:58Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:39:58Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:39:58Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:39:58Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:39:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:39:58Z- handleDvl() - RDI_Pathfinder msg: 1607495998.77 epoch sec; seqNo:850 2020-12-09T06:39:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:39:58Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.13 , 0.10 2020-12-09T06:39:58Z- waiting for 1607495998.55, time is 1607495998.77 2020-12-09T06:39:58Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:58Z- LcmTrn::updateTrn() >>>> pose time 1607495998.76, meas time 1607495998.77 <<<< 2020-12-09T06:39:58Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607495998.77, ping # 0. 2020-12-09T06:39:58Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607495998.77 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:39:58Z- TerrainNav::motionUpdate() - currEstimate = (4061663, 594252.68, 49.77) 2020-12-09T06:39:58Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:39:58Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:39:58Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:39:58Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:39:58Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:39:58Z- TNavBF::mmse selected from filter -1 2020-12-09T06:39:58Z- variances([0], [2], and psi_berg) = 789.290478 833.082244 0.000000 2020-12-09T06:39:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:39:58Z- LcmTrn::cycle() - MLE : 4061636.42 594205.18 49.77 2020-12-09T06:39:58Z- LcmTrn::cycle() - MMSE : 4061662.92 594252.68 49.77 2020-12-09T06:39:58Z- LcmTrn::cycle() - COVAR: 789.29 833.08 53.56 0.00 2020-12-09T06:39:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495998.78 epoch sec; seqNo:1533; 4061662.92 north; 594252.68 east 2020-12-09T06:39:58Z- waiting for 1607496001.77, time is 1607495998.77 2020-12-09T06:39:58Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:59Z- AHRS_M2 msg: 1607495999.17 epoch sec; seqNo:1484 2020-12-09T06:39:59Z- AHRS_M2 msg: 2.12 phi; 0.00 theta; -0.35 psi 2020-12-09T06:39:59Z- waiting for 1607496001.77, time is 1607495998.77 2020-12-09T06:39:59Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:59Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1607495999183; depth 0.00 2020-12-09T06:39:59Z- waiting for 1607496001.77, time is 1607495998.77 2020-12-09T06:39:59Z- sync is 0.40, coherence is 2.00 2020-12-09T06:39:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495999.19 epoch sec; seqNo:1534; 4061662.54 north; 594252.69 east 2020-12-09T06:39:59Z- waiting for 1607496001.77, time is 1607495998.77 2020-12-09T06:39:59Z- sync is 0.42, coherence is 2.00 2020-12-09T06:39:59Z- AHRS_M2 msg: 1607495999.57 epoch sec; seqNo:1485 2020-12-09T06:39:59Z- AHRS_M2 msg: 2.11 phi; 0.00 theta; -0.35 psi 2020-12-09T06:39:59Z- waiting for 1607496001.77, time is 1607495998.77 2020-12-09T06:39:59Z- sync is 0.80, coherence is 2.00 2020-12-09T06:39:59Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1607495999581; depth 0.00 2020-12-09T06:39:59Z- waiting for 1607496001.77, time is 1607495998.77 2020-12-09T06:39:59Z- sync is 0.80, coherence is 2.00 2020-12-09T06:39:59Z- handleDvl() - RDI_Pathfinder msg: 1607495999.59 epoch sec; seqNo:851 2020-12-09T06:39:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.78 , 60.21 , 46.33 , 48.37 2020-12-09T06:39:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.14 , 0.06 2020-12-09T06:39:59Z- waiting for 1607496001.77, time is 1607495999.59 2020-12-09T06:39:59Z- sync is 0.02, coherence is 2.00 2020-12-09T06:39:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607495999.60 epoch sec; seqNo:1535; 4061662.56 north; 594253.91 east 2020-12-09T06:39:59Z- waiting for 1607496001.77, time is 1607495999.59 2020-12-09T06:39:59Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:59Z- AHRS_M2 msg: 1607495999.97 epoch sec; seqNo:1486 2020-12-09T06:39:59Z- AHRS_M2 msg: 2.10 phi; -0.00 theta; -0.35 psi 2020-12-09T06:39:59Z- waiting for 1607496001.77, time is 1607495999.59 2020-12-09T06:39:59Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:59Z- handleDepth()-Depth_Keller msg: 49.79 epoch sec; seqNo:1607495999986; depth 0.00 2020-12-09T06:39:59Z- waiting for 1607496001.77, time is 1607495999.59 2020-12-09T06:39:59Z- sync is 0.38, coherence is 2.00 2020-12-09T06:39:59Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:59Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:59Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:39:59Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:39:59Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:39:59Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:39:59Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:39:59Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:39:59Z- handleDvl() - RDI_Pathfinder msg: 1607495999.99 epoch sec; seqNo:852 2020-12-09T06:39:59Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:39:59Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.14 , 0.06 2020-12-09T06:39:59Z- waiting for 1607496001.77, time is 1607495999.99 2020-12-09T06:39:59Z- sync is 0.01, coherence is 2.00 2020-12-09T06:39:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496000.01 epoch sec; seqNo:1536; 4061662.56 north; 594253.91 east 2020-12-09T06:39:59Z- waiting for 1607496001.77, time is 1607495999.99 2020-12-09T06:39:59Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:00Z- AHRS_M2 msg: 1607496000.38 epoch sec; seqNo:1487 2020-12-09T06:40:00Z- AHRS_M2 msg: 2.08 phi; -0.00 theta; -0.35 psi 2020-12-09T06:40:00Z- waiting for 1607496001.77, time is 1607495999.99 2020-12-09T06:40:00Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:00Z- handleDepth()-Depth_Keller msg: 49.79 epoch sec; seqNo:1607496000385; depth 0.00 2020-12-09T06:40:00Z- waiting for 1607496001.77, time is 1607495999.99 2020-12-09T06:40:00Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:00Z- handleDvl() - RDI_Pathfinder msg: 1607496000.40 epoch sec; seqNo:853 2020-12-09T06:40:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.69 , 59.70 , 46.21 , 48.20 2020-12-09T06:40:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.11 , 0.02 2020-12-09T06:40:00Z- waiting for 1607496001.77, time is 1607496000.40 2020-12-09T06:40:00Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496000.43 epoch sec; seqNo:1537; 4061662.18 north; 594253.91 east 2020-12-09T06:40:00Z- waiting for 1607496001.77, time is 1607496000.40 2020-12-09T06:40:00Z- sync is 0.03, coherence is 2.00 2020-12-09T06:40:00Z- AHRS_M2 msg: 1607496000.78 epoch sec; seqNo:1488 2020-12-09T06:40:00Z- AHRS_M2 msg: 2.07 phi; -0.00 theta; -0.35 psi 2020-12-09T06:40:00Z- waiting for 1607496001.77, time is 1607496000.40 2020-12-09T06:40:00Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:00Z- handleDepth()-Depth_Keller msg: 49.79 epoch sec; seqNo:1607496000791; depth 0.00 2020-12-09T06:40:00Z- waiting for 1607496001.77, time is 1607496000.40 2020-12-09T06:40:00Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496000.80 epoch sec; seqNo:1538; 4061662.18 north; 594253.91 east 2020-12-09T06:40:00Z- waiting for 1607496001.77, time is 1607496000.40 2020-12-09T06:40:00Z- sync is 0.40, coherence is 2.00 2020-12-09T06:40:01Z- AHRS_M2 msg: 1607496001.19 epoch sec; seqNo:1489 2020-12-09T06:40:01Z- AHRS_M2 msg: 2.06 phi; -0.00 theta; -0.35 psi 2020-12-09T06:40:01Z- waiting for 1607496001.77, time is 1607496000.40 2020-12-09T06:40:01Z- sync is 0.79, coherence is 2.00 2020-12-09T06:40:01Z- handleDepth()-Depth_Keller msg: 49.80 epoch sec; seqNo:1607496001195; depth 0.00 2020-12-09T06:40:01Z- waiting for 1607496001.77, time is 1607496000.40 2020-12-09T06:40:01Z- sync is 0.79, coherence is 2.00 2020-12-09T06:40:01Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:01Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:01Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:01Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:40:01Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:40:01Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:40:01Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:40:01Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:40:01Z- handleDvl() - RDI_Pathfinder msg: 1607496001.20 epoch sec; seqNo:854 2020-12-09T06:40:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:40:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.11 , 0.02 2020-12-09T06:40:01Z- waiting for 1607496001.77, time is 1607496001.20 2020-12-09T06:40:01Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496001.23 epoch sec; seqNo:1539; 4061661.81 north; 594255.14 east 2020-12-09T06:40:01Z- waiting for 1607496001.77, time is 1607496001.20 2020-12-09T06:40:01Z- sync is 0.03, coherence is 2.00 2020-12-09T06:40:01Z- AHRS_M2 msg: 1607496001.59 epoch sec; seqNo:1490 2020-12-09T06:40:01Z- AHRS_M2 msg: 2.04 phi; -0.01 theta; -0.35 psi 2020-12-09T06:40:01Z- waiting for 1607496001.77, time is 1607496001.20 2020-12-09T06:40:01Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:01Z- handleDepth()-Depth_Keller msg: 49.80 epoch sec; seqNo:1607496001594; depth 0.00 2020-12-09T06:40:01Z- waiting for 1607496001.77, time is 1607496001.20 2020-12-09T06:40:01Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:01Z- handleDvl() - RDI_Pathfinder msg: 1607496001.61 epoch sec; seqNo:855 2020-12-09T06:40:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.69 , 59.03 , 45.99 , 48.20 2020-12-09T06:40:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.11 , -0.02 2020-12-09T06:40:01Z- waiting for 1607496001.77, time is 1607496001.61 2020-12-09T06:40:01Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496001.64 epoch sec; seqNo:1540; 4061661.81 north; 594255.14 east 2020-12-09T06:40:01Z- waiting for 1607496001.77, time is 1607496001.61 2020-12-09T06:40:01Z- sync is 0.03, coherence is 2.00 2020-12-09T06:40:01Z- AHRS_M2 msg: 1607496001.99 epoch sec; seqNo:1491 2020-12-09T06:40:01Z- AHRS_M2 msg: 2.03 phi; -0.01 theta; -0.34 psi 2020-12-09T06:40:01Z- waiting for 1607496001.77, time is 1607496001.61 2020-12-09T06:40:01Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:01Z- handleDepth()-Depth_Keller msg: 49.79 epoch sec; seqNo:1607496002002; depth 0.00 2020-12-09T06:40:01Z- waiting for 1607496001.77, time is 1607496001.61 2020-12-09T06:40:01Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496002.02 epoch sec; seqNo:1541; 4061661.81 north; 594255.14 east 2020-12-09T06:40:01Z- waiting for 1607496001.77, time is 1607496001.61 2020-12-09T06:40:01Z- sync is 0.41, coherence is 2.00 2020-12-09T06:40:02Z- AHRS_M2 msg: 1607496002.40 epoch sec; seqNo:1492 2020-12-09T06:40:02Z- AHRS_M2 msg: 2.02 phi; -0.01 theta; -0.34 psi 2020-12-09T06:40:02Z- waiting for 1607496001.77, time is 1607496001.61 2020-12-09T06:40:02Z- sync is 0.79, coherence is 2.00 2020-12-09T06:40:02Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1607496002407; depth 0.00 2020-12-09T06:40:02Z- waiting for 1607496001.77, time is 1607496001.61 2020-12-09T06:40:02Z- sync is 0.79, coherence is 2.00 2020-12-09T06:40:02Z- handleDvl() - RDI_Pathfinder msg: 1607496002.42 epoch sec; seqNo:856 2020-12-09T06:40:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.69 , 58.81 , 45.77 , 47.76 2020-12-09T06:40:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.09 , -0.04 2020-12-09T06:40:02Z- waiting for 1607496001.77, time is 1607496002.42 2020-12-09T06:40:02Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:02Z- LcmTrn::updateTrn() >>>> pose time 1607496002.40, meas time 1607496002.42 <<<< 2020-12-09T06:40:02Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607496002.42 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:40:02Z- TerrainNav::motionUpdate() - currEstimate = (4061662, 594255.14, 49.78) 2020-12-09T06:40:02Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:40:02Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:40:02Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:40:02Z- TNavBF::mmse selected from filter -1 2020-12-09T06:40:02Z- variances([0], [2], and psi_berg) = 789.142290 833.081991 0.000000 2020-12-09T06:40:02Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:40:02Z- LcmTrn::cycle() - MLE : 4061635.31 594207.64 49.78 2020-12-09T06:40:02Z- LcmTrn::cycle() - MMSE : 4061661.81 594255.14 49.78 2020-12-09T06:40:02Z- LcmTrn::cycle() - COVAR: 789.14 833.08 53.70 0.00 2020-12-09T06:40:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496002.43 epoch sec; seqNo:1542; 4061661.45 north; 594256.36 east 2020-12-09T06:40:02Z- waiting for 1607496005.42, time is 1607496002.42 2020-12-09T06:40:02Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:02Z- AHRS_M2 msg: 1607496002.80 epoch sec; seqNo:1493 2020-12-09T06:40:02Z- AHRS_M2 msg: 2.01 phi; -0.01 theta; -0.34 psi 2020-12-09T06:40:02Z- waiting for 1607496005.42, time is 1607496002.42 2020-12-09T06:40:02Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:02Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1607496002806; depth 0.00 2020-12-09T06:40:02Z- waiting for 1607496005.42, time is 1607496002.42 2020-12-09T06:40:02Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496002.83 epoch sec; seqNo:1543; 4061661.45 north; 594256.36 east 2020-12-09T06:40:02Z- waiting for 1607496005.42, time is 1607496002.42 2020-12-09T06:40:02Z- sync is 0.41, coherence is 2.00 2020-12-09T06:40:03Z- AHRS_M2 msg: 1607496003.21 epoch sec; seqNo:1494 2020-12-09T06:40:03Z- AHRS_M2 msg: 1.99 phi; -0.01 theta; -0.34 psi 2020-12-09T06:40:03Z- waiting for 1607496005.42, time is 1607496002.42 2020-12-09T06:40:03Z- sync is 0.79, coherence is 2.00 2020-12-09T06:40:03Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1607496003210; depth 0.00 2020-12-09T06:40:03Z- waiting for 1607496005.42, time is 1607496002.42 2020-12-09T06:40:03Z- sync is 0.79, coherence is 2.00 2020-12-09T06:40:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496003.24 epoch sec; seqNo:1544; 4061661.45 north; 594256.36 east 2020-12-09T06:40:03Z- waiting for 1607496005.42, time is 1607496002.42 2020-12-09T06:40:03Z- sync is 0.82, coherence is 2.00 2020-12-09T06:40:03Z- AHRS_M2 msg: 1607496003.61 epoch sec; seqNo:1495 2020-12-09T06:40:03Z- AHRS_M2 msg: 1.98 phi; -0.01 theta; -0.34 psi 2020-12-09T06:40:03Z- waiting for 1607496005.42, time is 1607496002.42 2020-12-09T06:40:03Z- sync is 1.19, coherence is 2.00 2020-12-09T06:40:03Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1607496003617; depth 0.00 2020-12-09T06:40:03Z- waiting for 1607496005.42, time is 1607496002.42 2020-12-09T06:40:03Z- sync is 1.19, coherence is 2.00 2020-12-09T06:40:03Z- handleDvl() - RDI_Pathfinder msg: 1607496003.64 epoch sec; seqNo:857 2020-12-09T06:40:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.69 , 57.93 , 45.55 , 47.76 2020-12-09T06:40:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.06 , -0.06 2020-12-09T06:40:03Z- waiting for 1607496005.42, time is 1607496003.64 2020-12-09T06:40:03Z- sync is 0.03, coherence is 2.00 2020-12-09T06:40:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496003.65 epoch sec; seqNo:1545; 4061661.08 north; 594257.58 east 2020-12-09T06:40:03Z- waiting for 1607496005.42, time is 1607496003.64 2020-12-09T06:40:03Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:03Z- AHRS_M2 msg: 1607496004.01 epoch sec; seqNo:1496 2020-12-09T06:40:03Z- AHRS_M2 msg: 1.97 phi; -0.01 theta; -0.33 psi 2020-12-09T06:40:03Z- waiting for 1607496005.42, time is 1607496003.64 2020-12-09T06:40:03Z- sync is 0.37, coherence is 2.00 2020-12-09T06:40:03Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1607496004026; depth 0.00 2020-12-09T06:40:03Z- waiting for 1607496005.42, time is 1607496003.64 2020-12-09T06:40:03Z- sync is 0.37, coherence is 2.00 2020-12-09T06:40:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496004.04 epoch sec; seqNo:1546; 4061661.08 north; 594257.58 east 2020-12-09T06:40:03Z- waiting for 1607496005.42, time is 1607496003.64 2020-12-09T06:40:03Z- sync is 0.40, coherence is 2.00 2020-12-09T06:40:04Z- AHRS_M2 msg: 1607496004.42 epoch sec; seqNo:1497 2020-12-09T06:40:04Z- AHRS_M2 msg: 1.96 phi; -0.01 theta; -0.33 psi 2020-12-09T06:40:04Z- waiting for 1607496005.42, time is 1607496003.64 2020-12-09T06:40:04Z- sync is 0.78, coherence is 2.00 2020-12-09T06:40:04Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1607496004423; depth 0.00 2020-12-09T06:40:04Z- waiting for 1607496005.42, time is 1607496003.64 2020-12-09T06:40:04Z- sync is 0.78, coherence is 2.00 2020-12-09T06:40:04Z- handleDvl() - RDI_Pathfinder msg: 1607496004.43 epoch sec; seqNo:858 2020-12-09T06:40:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.37 , 57.04 , 45.33 , 47.31 2020-12-09T06:40:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.07 , -0.07 2020-12-09T06:40:04Z- waiting for 1607496005.42, time is 1607496004.43 2020-12-09T06:40:04Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496004.45 epoch sec; seqNo:1547; 4061661.08 north; 594257.58 east 2020-12-09T06:40:04Z- waiting for 1607496005.42, time is 1607496004.43 2020-12-09T06:40:04Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:04Z- AHRS_M2 msg: 1607496004.82 epoch sec; seqNo:1498 2020-12-09T06:40:04Z- AHRS_M2 msg: 1.95 phi; -0.01 theta; -0.33 psi 2020-12-09T06:40:04Z- waiting for 1607496005.42, time is 1607496004.43 2020-12-09T06:40:04Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:04Z- handleDepth()-Depth_Keller msg: 49.74 epoch sec; seqNo:1607496004831; depth 0.00 2020-12-09T06:40:04Z- waiting for 1607496005.42, time is 1607496004.43 2020-12-09T06:40:04Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:04Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:04Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:04Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:04Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:40:04Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:40:04Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:40:04Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:40:04Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:40:04Z- handleDvl() - RDI_Pathfinder msg: 1607496004.83 epoch sec; seqNo:859 2020-12-09T06:40:04Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:40:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.07 , -0.07 2020-12-09T06:40:04Z- waiting for 1607496005.42, time is 1607496004.83 2020-12-09T06:40:04Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496004.85 epoch sec; seqNo:1548; 4061660.70 north; 594257.59 east 2020-12-09T06:40:04Z- waiting for 1607496005.42, time is 1607496004.83 2020-12-09T06:40:04Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:05Z- AHRS_M2 msg: 1607496005.23 epoch sec; seqNo:1499 2020-12-09T06:40:05Z- AHRS_M2 msg: 1.94 phi; -0.01 theta; -0.33 psi 2020-12-09T06:40:05Z- waiting for 1607496005.42, time is 1607496004.83 2020-12-09T06:40:05Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:05Z- handleDepth()-Depth_Keller msg: 49.72 epoch sec; seqNo:1607496005238; depth 0.00 2020-12-09T06:40:05Z- waiting for 1607496005.42, time is 1607496004.83 2020-12-09T06:40:05Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496005.27 epoch sec; seqNo:1549; 4061660.72 north; 594258.81 east 2020-12-09T06:40:05Z- waiting for 1607496005.42, time is 1607496004.83 2020-12-09T06:40:05Z- sync is 0.44, coherence is 2.00 2020-12-09T06:40:05Z- AHRS_M2 msg: 1607496005.64 epoch sec; seqNo:1500 2020-12-09T06:40:05Z- AHRS_M2 msg: 1.93 phi; -0.01 theta; -0.32 psi 2020-12-09T06:40:05Z- waiting for 1607496005.42, time is 1607496004.83 2020-12-09T06:40:05Z- sync is 0.80, coherence is 2.00 2020-12-09T06:40:05Z- handleDepth()-Depth_Keller msg: 49.74 epoch sec; seqNo:1607496005640; depth 0.00 2020-12-09T06:40:05Z- waiting for 1607496005.42, time is 1607496004.83 2020-12-09T06:40:05Z- sync is 0.80, coherence is 2.00 2020-12-09T06:40:05Z- handleDvl() - RDI_Pathfinder msg: 1607496005.65 epoch sec; seqNo:860 2020-12-09T06:40:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.47 , 57.04 , 45.10 , 47.09 2020-12-09T06:40:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.06 , -0.06 2020-12-09T06:40:05Z- waiting for 1607496005.42, time is 1607496005.65 2020-12-09T06:40:05Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:05Z- LcmTrn::updateTrn() >>>> pose time 1607496005.64, meas time 1607496005.65 <<<< 2020-12-09T06:40:05Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607496005.65 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:40:05Z- TerrainNav::motionUpdate() - currEstimate = (4061661, 594258.81, 49.74) 2020-12-09T06:40:05Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:40:05Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:40:05Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:40:05Z- TNavBF::mmse selected from filter -1 2020-12-09T06:40:05Z- variances([0], [2], and psi_berg) = 788.965967 833.081690 0.000000 2020-12-09T06:40:05Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:40:05Z- LcmTrn::cycle() - MLE : 4061634.22 594211.31 49.74 2020-12-09T06:40:05Z- LcmTrn::cycle() - MMSE : 4061660.72 594258.81 49.74 2020-12-09T06:40:05Z- LcmTrn::cycle() - COVAR: 788.97 833.08 53.90 0.00 2020-12-09T06:40:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496005.68 epoch sec; seqNo:1550; 4061660.72 north; 594258.81 east 2020-12-09T06:40:05Z- waiting for 1607496008.65, time is 1607496005.65 2020-12-09T06:40:05Z- sync is 0.03, coherence is 2.00 2020-12-09T06:40:05Z- AHRS_M2 msg: 1607496006.03 epoch sec; seqNo:1501 2020-12-09T06:40:05Z- AHRS_M2 msg: 1.92 phi; -0.01 theta; -0.32 psi 2020-12-09T06:40:05Z- waiting for 1607496008.65, time is 1607496005.65 2020-12-09T06:40:05Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:05Z- handleDepth()-Depth_Keller msg: 49.72 epoch sec; seqNo:1607496006038; depth 0.00 2020-12-09T06:40:05Z- waiting for 1607496008.65, time is 1607496005.65 2020-12-09T06:40:05Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:05Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:05Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:05Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:05Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:40:05Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:40:05Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:40:05Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:40:05Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:40:05Z- handleDvl() - RDI_Pathfinder msg: 1607496006.04 epoch sec; seqNo:861 2020-12-09T06:40:05Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:40:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.06 , -0.06 2020-12-09T06:40:05Z- waiting for 1607496008.65, time is 1607496006.04 2020-12-09T06:40:05Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496006.05 epoch sec; seqNo:1551; 4061660.72 north; 594258.81 east 2020-12-09T06:40:05Z- waiting for 1607496008.65, time is 1607496006.04 2020-12-09T06:40:05Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:06Z- AHRS_M2 msg: 1607496006.44 epoch sec; seqNo:1502 2020-12-09T06:40:06Z- AHRS_M2 msg: 1.91 phi; -0.01 theta; -0.31 psi 2020-12-09T06:40:06Z- waiting for 1607496008.65, time is 1607496006.04 2020-12-09T06:40:06Z- sync is 0.40, coherence is 2.00 2020-12-09T06:40:06Z- handleDepth()-Depth_Keller msg: 49.72 epoch sec; seqNo:1607496006450; depth 0.00 2020-12-09T06:40:06Z- waiting for 1607496008.65, time is 1607496006.04 2020-12-09T06:40:06Z- sync is 0.40, coherence is 2.00 2020-12-09T06:40:06Z- handleDvl() - RDI_Pathfinder msg: 1607496006.46 epoch sec; seqNo:862 2020-12-09T06:40:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.47 , 55.94 , 44.88 , 46.87 2020-12-09T06:40:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.06 , -0.04 2020-12-09T06:40:06Z- waiting for 1607496008.65, time is 1607496006.46 2020-12-09T06:40:06Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496006.47 epoch sec; seqNo:1552; 4061660.35 north; 594260.03 east 2020-12-09T06:40:06Z- waiting for 1607496008.65, time is 1607496006.46 2020-12-09T06:40:06Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:06Z- AHRS_M2 msg: 1607496006.84 epoch sec; seqNo:1503 2020-12-09T06:40:06Z- AHRS_M2 msg: 1.90 phi; -0.01 theta; -0.31 psi 2020-12-09T06:40:06Z- waiting for 1607496008.65, time is 1607496006.46 2020-12-09T06:40:06Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:06Z- handleDepth()-Depth_Keller msg: 49.73 epoch sec; seqNo:1607496006846; depth 0.00 2020-12-09T06:40:06Z- waiting for 1607496008.65, time is 1607496006.46 2020-12-09T06:40:06Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496006.87 epoch sec; seqNo:1553; 4061660.35 north; 594260.03 east 2020-12-09T06:40:06Z- waiting for 1607496008.65, time is 1607496006.46 2020-12-09T06:40:06Z- sync is 0.41, coherence is 2.00 2020-12-09T06:40:07Z- AHRS_M2 msg: 1607496007.24 epoch sec; seqNo:1504 2020-12-09T06:40:07Z- AHRS_M2 msg: 1.89 phi; -0.01 theta; -0.31 psi 2020-12-09T06:40:07Z- waiting for 1607496008.65, time is 1607496006.46 2020-12-09T06:40:07Z- sync is 0.78, coherence is 2.00 2020-12-09T06:40:07Z- handleDepth()-Depth_Keller msg: 49.73 epoch sec; seqNo:1607496007249; depth 0.00 2020-12-09T06:40:07Z- waiting for 1607496008.65, time is 1607496006.46 2020-12-09T06:40:07Z- sync is 0.78, coherence is 2.00 2020-12-09T06:40:07Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:07Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:07Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:07Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:40:07Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:40:07Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:40:07Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:40:07Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:40:07Z- handleDvl() - RDI_Pathfinder msg: 1607496007.26 epoch sec; seqNo:863 2020-12-09T06:40:07Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:40:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.06 , -0.04 2020-12-09T06:40:07Z- waiting for 1607496008.65, time is 1607496007.26 2020-12-09T06:40:07Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496007.27 epoch sec; seqNo:1554; 4061660.35 north; 594260.03 east 2020-12-09T06:40:07Z- waiting for 1607496008.65, time is 1607496007.26 2020-12-09T06:40:07Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:07Z- AHRS_M2 msg: 1607496007.65 epoch sec; seqNo:1505 2020-12-09T06:40:07Z- AHRS_M2 msg: 1.88 phi; -0.01 theta; -0.31 psi 2020-12-09T06:40:07Z- waiting for 1607496008.65, time is 1607496007.26 2020-12-09T06:40:07Z- sync is 0.40, coherence is 2.00 2020-12-09T06:40:07Z- handleDepth()-Depth_Keller msg: 49.71 epoch sec; seqNo:1607496007667; depth 0.00 2020-12-09T06:40:07Z- waiting for 1607496008.65, time is 1607496007.26 2020-12-09T06:40:07Z- sync is 0.40, coherence is 2.00 2020-12-09T06:40:07Z- handleDvl() - RDI_Pathfinder msg: 1607496007.69 epoch sec; seqNo:864 2020-12-09T06:40:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.25 , 55.94 , 44.66 , 46.65 2020-12-09T06:40:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.07 , -0.01 2020-12-09T06:40:07Z- waiting for 1607496008.65, time is 1607496007.69 2020-12-09T06:40:07Z- sync is 0.03, coherence is 2.00 2020-12-09T06:40:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496007.71 epoch sec; seqNo:1555; 4061660.35 north; 594260.03 east 2020-12-09T06:40:07Z- waiting for 1607496008.65, time is 1607496007.69 2020-12-09T06:40:07Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:07Z- AHRS_M2 msg: 1607496008.05 epoch sec; seqNo:1506 2020-12-09T06:40:07Z- AHRS_M2 msg: 1.87 phi; -0.01 theta; -0.30 psi 2020-12-09T06:40:07Z- waiting for 1607496008.65, time is 1607496007.69 2020-12-09T06:40:07Z- sync is 0.37, coherence is 2.00 2020-12-09T06:40:08Z- handleDepth()-Depth_Keller msg: 49.72 epoch sec; seqNo:1607496008064; depth 0.00 2020-12-09T06:40:08Z- waiting for 1607496008.65, time is 1607496007.69 2020-12-09T06:40:08Z- sync is 0.37, coherence is 2.00 2020-12-09T06:40:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496008.08 epoch sec; seqNo:1556; 4061660.36 north; 594261.25 east 2020-12-09T06:40:08Z- waiting for 1607496008.65, time is 1607496007.69 2020-12-09T06:40:08Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:08Z- AHRS_M2 msg: 1607496008.47 epoch sec; seqNo:1507 2020-12-09T06:40:08Z- AHRS_M2 msg: 1.85 phi; -0.01 theta; -0.30 psi 2020-12-09T06:40:08Z- waiting for 1607496008.65, time is 1607496007.69 2020-12-09T06:40:08Z- sync is 0.78, coherence is 2.00 2020-12-09T06:40:08Z- handleDepth()-Depth_Keller msg: 49.73 epoch sec; seqNo:1607496008471; depth 0.00 2020-12-09T06:40:08Z- waiting for 1607496008.65, time is 1607496007.69 2020-12-09T06:40:08Z- sync is 0.78, coherence is 2.00 2020-12-09T06:40:08Z- handleDvl() - RDI_Pathfinder msg: 1607496008.49 epoch sec; seqNo:865 2020-12-09T06:40:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.25 , 55.05 , 44.22 , 46.43 2020-12-09T06:40:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.08 , 0.02 2020-12-09T06:40:08Z- waiting for 1607496008.65, time is 1607496008.49 2020-12-09T06:40:08Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496008.50 epoch sec; seqNo:1557; 4061659.99 north; 594261.26 east 2020-12-09T06:40:08Z- waiting for 1607496008.65, time is 1607496008.49 2020-12-09T06:40:08Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:08Z- AHRS_M2 msg: 1607496008.87 epoch sec; seqNo:1508 2020-12-09T06:40:08Z- AHRS_M2 msg: 1.83 phi; -0.01 theta; -0.30 psi 2020-12-09T06:40:08Z- waiting for 1607496008.65, time is 1607496008.49 2020-12-09T06:40:08Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:08Z- handleDepth()-Depth_Keller msg: 49.73 epoch sec; seqNo:1607496008870; depth 0.00 2020-12-09T06:40:08Z- waiting for 1607496008.65, time is 1607496008.49 2020-12-09T06:40:08Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496008.88 epoch sec; seqNo:1558; 4061659.99 north; 594261.26 east 2020-12-09T06:40:08Z- waiting for 1607496008.65, time is 1607496008.49 2020-12-09T06:40:08Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:09Z- AHRS_M2 msg: 1607496009.29 epoch sec; seqNo:1509 2020-12-09T06:40:09Z- AHRS_M2 msg: 1.82 phi; -0.01 theta; -0.29 psi 2020-12-09T06:40:09Z- waiting for 1607496008.65, time is 1607496008.49 2020-12-09T06:40:09Z- sync is 0.80, coherence is 2.00 2020-12-09T06:40:09Z- handleDepth()-Depth_Keller msg: 49.74 epoch sec; seqNo:1607496009316; depth 0.00 2020-12-09T06:40:09Z- waiting for 1607496008.65, time is 1607496008.49 2020-12-09T06:40:09Z- sync is 0.80, coherence is 2.00 2020-12-09T06:40:09Z- handleDvl() - RDI_Pathfinder msg: 1607496009.33 epoch sec; seqNo:866 2020-12-09T06:40:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.47 , 54.61 , 44.22 , 45.99 2020-12-09T06:40:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.08 , 0.05 2020-12-09T06:40:09Z- waiting for 1607496008.65, time is 1607496009.33 2020-12-09T06:40:09Z- sync is 0.05, coherence is 2.00 2020-12-09T06:40:09Z- LcmTrn::updateTrn() >>>> pose time 1607496009.29, meas time 1607496009.33 <<<< 2020-12-09T06:40:09Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607496009.33 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:40:09Z- TerrainNav::motionUpdate() - currEstimate = (4061660, 594261.26, 49.74) 2020-12-09T06:40:09Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:40:09Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:40:09Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:40:09Z- TNavBF::mmse selected from filter -1 2020-12-09T06:40:09Z- variances([0], [2], and psi_berg) = 788.822489 833.081447 0.000000 2020-12-09T06:40:09Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:40:09Z- LcmTrn::cycle() - MLE : 4061633.49 594213.76 49.74 2020-12-09T06:40:09Z- LcmTrn::cycle() - MMSE : 4061659.99 594261.26 49.74 2020-12-09T06:40:09Z- LcmTrn::cycle() - COVAR: 788.82 833.08 54.03 0.00 2020-12-09T06:40:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496009.35 epoch sec; seqNo:1559; 4061659.99 north; 594261.26 east 2020-12-09T06:40:09Z- waiting for 1607496012.33, time is 1607496009.33 2020-12-09T06:40:09Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:09Z- AHRS_M2 msg: 1607496009.67 epoch sec; seqNo:1510 2020-12-09T06:40:09Z- AHRS_M2 msg: 1.81 phi; -0.01 theta; -0.29 psi 2020-12-09T06:40:09Z- waiting for 1607496012.33, time is 1607496009.33 2020-12-09T06:40:09Z- sync is 0.34, coherence is 2.00 2020-12-09T06:40:09Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1607496009681; depth 0.00 2020-12-09T06:40:09Z- waiting for 1607496012.33, time is 1607496009.33 2020-12-09T06:40:09Z- sync is 0.34, coherence is 2.00 2020-12-09T06:40:09Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:09Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:09Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:09Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:40:09Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:40:09Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:40:09Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:40:09Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:40:09Z- handleDvl() - RDI_Pathfinder msg: 1607496009.68 epoch sec; seqNo:867 2020-12-09T06:40:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:40:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.08 , 0.05 2020-12-09T06:40:09Z- waiting for 1607496012.33, time is 1607496009.68 2020-12-09T06:40:09Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496009.70 epoch sec; seqNo:1560; 4061660.00 north; 594262.48 east 2020-12-09T06:40:09Z- waiting for 1607496012.33, time is 1607496009.68 2020-12-09T06:40:09Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:10Z- AHRS_M2 msg: 1607496010.07 epoch sec; seqNo:1511 2020-12-09T06:40:10Z- AHRS_M2 msg: 1.80 phi; -0.00 theta; -0.29 psi 2020-12-09T06:40:10Z- waiting for 1607496012.33, time is 1607496009.68 2020-12-09T06:40:10Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:10Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1607496010078; depth 0.00 2020-12-09T06:40:10Z- waiting for 1607496012.33, time is 1607496009.68 2020-12-09T06:40:10Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496010.10 epoch sec; seqNo:1561; 4061660.00 north; 594262.48 east 2020-12-09T06:40:10Z- waiting for 1607496012.33, time is 1607496009.68 2020-12-09T06:40:10Z- sync is 0.41, coherence is 2.00 2020-12-09T06:40:10Z- AHRS_M2 msg: 1607496010.48 epoch sec; seqNo:1512 2020-12-09T06:40:10Z- AHRS_M2 msg: 1.79 phi; -0.00 theta; -0.29 psi 2020-12-09T06:40:10Z- waiting for 1607496012.33, time is 1607496009.68 2020-12-09T06:40:10Z- sync is 0.80, coherence is 2.00 2020-12-09T06:40:10Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1607496010490; depth 0.00 2020-12-09T06:40:10Z- waiting for 1607496012.33, time is 1607496009.68 2020-12-09T06:40:10Z- sync is 0.80, coherence is 2.00 2020-12-09T06:40:10Z- handleDvl() - RDI_Pathfinder msg: 1607496010.50 epoch sec; seqNo:868 2020-12-09T06:40:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.47 , 54.61 , 44.44 , 45.99 2020-12-09T06:40:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.08 , 0.07 2020-12-09T06:40:10Z- waiting for 1607496012.33, time is 1607496010.50 2020-12-09T06:40:10Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496010.52 epoch sec; seqNo:1562; 4061660.00 north; 594262.48 east 2020-12-09T06:40:10Z- waiting for 1607496012.33, time is 1607496010.50 2020-12-09T06:40:10Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:10Z- AHRS_M2 msg: 1607496010.88 epoch sec; seqNo:1513 2020-12-09T06:40:10Z- AHRS_M2 msg: 1.78 phi; 0.00 theta; -0.28 psi 2020-12-09T06:40:10Z- waiting for 1607496012.33, time is 1607496010.50 2020-12-09T06:40:10Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:10Z- handleDepth()-Depth_Keller msg: 49.80 epoch sec; seqNo:1607496010888; depth 0.00 2020-12-09T06:40:10Z- waiting for 1607496012.33, time is 1607496010.50 2020-12-09T06:40:10Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:10Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:10Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:10Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:10Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:40:10Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:40:10Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:40:10Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:40:10Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:40:10Z- handleDvl() - RDI_Pathfinder msg: 1607496010.89 epoch sec; seqNo:869 2020-12-09T06:40:10Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:40:10Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.08 , 0.07 2020-12-09T06:40:10Z- waiting for 1607496012.33, time is 1607496010.89 2020-12-09T06:40:10Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496010.90 epoch sec; seqNo:1563; 4061660.00 north; 594262.48 east 2020-12-09T06:40:10Z- waiting for 1607496012.33, time is 1607496010.89 2020-12-09T06:40:10Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:11Z- AHRS_M2 msg: 1607496011.31 epoch sec; seqNo:1514 2020-12-09T06:40:11Z- AHRS_M2 msg: 1.78 phi; 0.01 theta; -0.28 psi 2020-12-09T06:40:11Z- waiting for 1607496012.33, time is 1607496010.89 2020-12-09T06:40:11Z- sync is 0.42, coherence is 2.00 2020-12-09T06:40:11Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1607496011316; depth 0.00 2020-12-09T06:40:11Z- waiting for 1607496012.33, time is 1607496010.89 2020-12-09T06:40:11Z- sync is 0.42, coherence is 2.00 2020-12-09T06:40:11Z- handleDvl() - RDI_Pathfinder msg: 1607496011.34 epoch sec; seqNo:870 2020-12-09T06:40:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.47 , 53.73 , 44.22 , 44.88 2020-12-09T06:40:11Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.10 , 0.08 2020-12-09T06:40:11Z- waiting for 1607496012.33, time is 1607496011.34 2020-12-09T06:40:11Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496011.36 epoch sec; seqNo:1564; 4061660.01 north; 594263.70 east 2020-12-09T06:40:11Z- waiting for 1607496012.33, time is 1607496011.34 2020-12-09T06:40:11Z- sync is 0.03, coherence is 2.00 2020-12-09T06:40:11Z- AHRS_M2 msg: 1607496011.69 epoch sec; seqNo:1515 2020-12-09T06:40:11Z- AHRS_M2 msg: 1.77 phi; 0.01 theta; -0.27 psi 2020-12-09T06:40:11Z- waiting for 1607496012.33, time is 1607496011.34 2020-12-09T06:40:11Z- sync is 0.35, coherence is 2.00 2020-12-09T06:40:11Z- handleDepth()-Depth_Keller msg: 49.82 epoch sec; seqNo:1607496011694; depth 0.00 2020-12-09T06:40:11Z- waiting for 1607496012.33, time is 1607496011.34 2020-12-09T06:40:11Z- sync is 0.35, coherence is 2.00 2020-12-09T06:40:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496011.71 epoch sec; seqNo:1565; 4061659.63 north; 594263.70 east 2020-12-09T06:40:11Z- waiting for 1607496012.33, time is 1607496011.34 2020-12-09T06:40:11Z- sync is 0.37, coherence is 2.00 2020-12-09T06:40:12Z- AHRS_M2 msg: 1607496012.09 epoch sec; seqNo:1516 2020-12-09T06:40:12Z- AHRS_M2 msg: 1.76 phi; 0.01 theta; -0.27 psi 2020-12-09T06:40:12Z- waiting for 1607496012.33, time is 1607496011.34 2020-12-09T06:40:12Z- sync is 0.76, coherence is 2.00 2020-12-09T06:40:12Z- handleDepth()-Depth_Keller msg: 49.84 epoch sec; seqNo:1607496012098; depth 0.00 2020-12-09T06:40:12Z- waiting for 1607496012.33, time is 1607496011.34 2020-12-09T06:40:12Z- sync is 0.76, coherence is 2.00 2020-12-09T06:40:12Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:12Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:12Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:12Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:40:12Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:40:12Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:40:12Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:40:12Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:40:12Z- handleDvl() - RDI_Pathfinder msg: 1607496012.10 epoch sec; seqNo:871 2020-12-09T06:40:12Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:40:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.87 , -0.10 , 0.08 2020-12-09T06:40:12Z- waiting for 1607496012.33, time is 1607496012.10 2020-12-09T06:40:12Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496012.11 epoch sec; seqNo:1566; 4061659.63 north; 594263.70 east 2020-12-09T06:40:12Z- waiting for 1607496012.33, time is 1607496012.10 2020-12-09T06:40:12Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:12Z- AHRS_M2 msg: 1607496012.50 epoch sec; seqNo:1517 2020-12-09T06:40:12Z- AHRS_M2 msg: 1.76 phi; 0.02 theta; -0.26 psi 2020-12-09T06:40:12Z- waiting for 1607496012.33, time is 1607496012.10 2020-12-09T06:40:12Z- sync is 0.40, coherence is 2.00 2020-12-09T06:40:12Z- handleDepth()-Depth_Keller msg: 49.86 epoch sec; seqNo:1607496012502; depth 0.00 2020-12-09T06:40:12Z- waiting for 1607496012.33, time is 1607496012.10 2020-12-09T06:40:12Z- sync is 0.40, coherence is 2.00 2020-12-09T06:40:12Z- handleDvl() - RDI_Pathfinder msg: 1607496012.53 epoch sec; seqNo:872 2020-12-09T06:40:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.78 , 53.06 , 44.29 , 44.70 2020-12-09T06:40:12Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.11 , 0.06 2020-12-09T06:40:12Z- waiting for 1607496012.33, time is 1607496012.53 2020-12-09T06:40:12Z- sync is 0.04, coherence is 2.00 2020-12-09T06:40:12Z- LcmTrn::updateTrn() >>>> pose time 1607496012.50, meas time 1607496012.53 <<<< 2020-12-09T06:40:12Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607496012.53 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:40:12Z- TerrainNav::motionUpdate() - currEstimate = (4061660, 594263.70, 49.86) 2020-12-09T06:40:12Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:40:12Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:40:12Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:40:12Z- TNavBF::mmse selected from filter -1 2020-12-09T06:40:12Z- variances([0], [2], and psi_berg) = 788.681823 833.081209 0.000000 2020-12-09T06:40:12Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:40:12Z- LcmTrn::cycle() - MLE : 4061633.13 594216.20 49.86 2020-12-09T06:40:12Z- LcmTrn::cycle() - MMSE : 4061659.63 594263.70 49.86 2020-12-09T06:40:12Z- LcmTrn::cycle() - COVAR: 788.68 833.08 54.15 0.00 2020-12-09T06:40:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496012.55 epoch sec; seqNo:1567; 4061659.65 north; 594264.92 east 2020-12-09T06:40:12Z- waiting for 1607496015.53, time is 1607496012.53 2020-12-09T06:40:12Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:12Z- AHRS_M2 msg: 1607496012.91 epoch sec; seqNo:1518 2020-12-09T06:40:12Z- AHRS_M2 msg: 1.75 phi; 0.02 theta; -0.26 psi 2020-12-09T06:40:12Z- waiting for 1607496015.53, time is 1607496012.53 2020-12-09T06:40:12Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:12Z- handleDepth()-Depth_Keller msg: 49.87 epoch sec; seqNo:1607496012932; depth 0.00 2020-12-09T06:40:12Z- waiting for 1607496015.53, time is 1607496012.53 2020-12-09T06:40:12Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496012.94 epoch sec; seqNo:1568; 4061659.65 north; 594264.92 east 2020-12-09T06:40:12Z- waiting for 1607496015.53, time is 1607496012.53 2020-12-09T06:40:12Z- sync is 0.41, coherence is 2.00 2020-12-09T06:40:13Z- AHRS_M2 msg: 1607496013.32 epoch sec; seqNo:1519 2020-12-09T06:40:13Z- AHRS_M2 msg: 1.74 phi; 0.02 theta; -0.26 psi 2020-12-09T06:40:13Z- waiting for 1607496015.53, time is 1607496012.53 2020-12-09T06:40:13Z- sync is 0.78, coherence is 2.00 2020-12-09T06:40:13Z- handleDepth()-Depth_Keller msg: 49.89 epoch sec; seqNo:1607496013323; depth 0.00 2020-12-09T06:40:13Z- waiting for 1607496015.53, time is 1607496012.53 2020-12-09T06:40:13Z- sync is 0.78, coherence is 2.00 2020-12-09T06:40:13Z- handleDvl() - RDI_Pathfinder msg: 1607496013.36 epoch sec; seqNo:873 2020-12-09T06:40:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.98 , 52.86 , 44.29 , 44.29 2020-12-09T06:40:13Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.11 , 0.05 2020-12-09T06:40:13Z- waiting for 1607496015.53, time is 1607496013.36 2020-12-09T06:40:13Z- sync is 0.04, coherence is 2.00 2020-12-09T06:40:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496013.37 epoch sec; seqNo:1569; 4061659.65 north; 594264.92 east 2020-12-09T06:40:13Z- waiting for 1607496015.53, time is 1607496013.36 2020-12-09T06:40:13Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:13Z- AHRS_M2 msg: 1607496013.71 epoch sec; seqNo:1520 2020-12-09T06:40:13Z- AHRS_M2 msg: 1.74 phi; 0.03 theta; -0.26 psi 2020-12-09T06:40:13Z- waiting for 1607496015.53, time is 1607496013.36 2020-12-09T06:40:13Z- sync is 0.35, coherence is 2.00 2020-12-09T06:40:13Z- handleDepth()-Depth_Keller msg: 49.89 epoch sec; seqNo:1607496013714; depth 0.00 2020-12-09T06:40:13Z- waiting for 1607496015.53, time is 1607496013.36 2020-12-09T06:40:13Z- sync is 0.35, coherence is 2.00 2020-12-09T06:40:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496013.74 epoch sec; seqNo:1570; 4061659.66 north; 594266.14 east 2020-12-09T06:40:13Z- waiting for 1607496015.53, time is 1607496013.36 2020-12-09T06:40:13Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:14Z- AHRS_M2 msg: 1607496014.11 epoch sec; seqNo:1521 2020-12-09T06:40:14Z- AHRS_M2 msg: 1.73 phi; 0.03 theta; -0.25 psi 2020-12-09T06:40:14Z- waiting for 1607496015.53, time is 1607496013.36 2020-12-09T06:40:14Z- sync is 0.76, coherence is 2.00 2020-12-09T06:40:14Z- handleDepth()-Depth_Keller msg: 49.90 epoch sec; seqNo:1607496014118; depth 0.00 2020-12-09T06:40:14Z- waiting for 1607496015.53, time is 1607496013.36 2020-12-09T06:40:14Z- sync is 0.76, coherence is 2.00 2020-12-09T06:40:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496014.13 epoch sec; seqNo:1571; 4061659.66 north; 594266.14 east 2020-12-09T06:40:14Z- waiting for 1607496015.53, time is 1607496013.36 2020-12-09T06:40:14Z- sync is 0.77, coherence is 2.00 2020-12-09T06:40:14Z- AHRS_M2 msg: 1607496014.52 epoch sec; seqNo:1522 2020-12-09T06:40:14Z- AHRS_M2 msg: 1.73 phi; 0.03 theta; -0.25 psi 2020-12-09T06:40:14Z- waiting for 1607496015.53, time is 1607496013.36 2020-12-09T06:40:14Z- sync is 1.16, coherence is 2.00 2020-12-09T06:40:14Z- handleDepth()-Depth_Keller msg: 49.92 epoch sec; seqNo:1607496014523; depth 0.00 2020-12-09T06:40:14Z- waiting for 1607496015.53, time is 1607496013.36 2020-12-09T06:40:14Z- sync is 1.16, coherence is 2.00 2020-12-09T06:40:14Z- handleDvl() - RDI_Pathfinder msg: 1607496014.54 epoch sec; seqNo:874 2020-12-09T06:40:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.98 , 52.25 , 44.29 , 44.08 2020-12-09T06:40:14Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.09 , 0.03 2020-12-09T06:40:14Z- waiting for 1607496015.53, time is 1607496014.54 2020-12-09T06:40:14Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496014.55 epoch sec; seqNo:1572; 4061659.66 north; 594266.14 east 2020-12-09T06:40:14Z- waiting for 1607496015.53, time is 1607496014.54 2020-12-09T06:40:14Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:14Z- AHRS_M2 msg: 1607496014.92 epoch sec; seqNo:1523 2020-12-09T06:40:14Z- AHRS_M2 msg: 1.72 phi; 0.04 theta; -0.25 psi 2020-12-09T06:40:14Z- waiting for 1607496015.53, time is 1607496014.54 2020-12-09T06:40:14Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:14Z- handleDepth()-Depth_Keller msg: 49.92 epoch sec; seqNo:1607496014932; depth 0.00 2020-12-09T06:40:14Z- waiting for 1607496015.53, time is 1607496014.54 2020-12-09T06:40:14Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496014.94 epoch sec; seqNo:1573; 4061659.66 north; 594266.14 east 2020-12-09T06:40:14Z- waiting for 1607496015.53, time is 1607496014.54 2020-12-09T06:40:14Z- sync is 0.41, coherence is 2.00 2020-12-09T06:40:15Z- AHRS_M2 msg: 1607496015.33 epoch sec; seqNo:1524 2020-12-09T06:40:15Z- AHRS_M2 msg: 1.72 phi; 0.04 theta; -0.25 psi 2020-12-09T06:40:15Z- waiting for 1607496015.53, time is 1607496014.54 2020-12-09T06:40:15Z- sync is 0.79, coherence is 2.00 2020-12-09T06:40:15Z- handleDepth()-Depth_Keller msg: 49.92 epoch sec; seqNo:1607496015334; depth 0.00 2020-12-09T06:40:15Z- waiting for 1607496015.53, time is 1607496014.54 2020-12-09T06:40:15Z- sync is 0.79, coherence is 2.00 2020-12-09T06:40:15Z- handleDvl() - RDI_Pathfinder msg: 1607496015.36 epoch sec; seqNo:875 2020-12-09T06:40:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.78 , 52.25 , 44.90 , 43.88 2020-12-09T06:40:15Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.11 , 0.02 2020-12-09T06:40:15Z- waiting for 1607496015.53, time is 1607496015.36 2020-12-09T06:40:15Z- sync is 0.03, coherence is 2.00 2020-12-09T06:40:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496015.37 epoch sec; seqNo:1574; 4061659.67 north; 594267.36 east 2020-12-09T06:40:15Z- waiting for 1607496015.53, time is 1607496015.36 2020-12-09T06:40:15Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:15Z- AHRS_M2 msg: 1607496015.73 epoch sec; seqNo:1525 2020-12-09T06:40:15Z- AHRS_M2 msg: 1.71 phi; 0.04 theta; -0.25 psi 2020-12-09T06:40:15Z- waiting for 1607496015.53, time is 1607496015.36 2020-12-09T06:40:15Z- sync is 0.37, coherence is 2.00 2020-12-09T06:40:15Z- handleDepth()-Depth_Keller msg: 49.93 epoch sec; seqNo:1607496015733; depth 0.00 2020-12-09T06:40:15Z- waiting for 1607496015.53, time is 1607496015.36 2020-12-09T06:40:15Z- sync is 0.37, coherence is 2.00 2020-12-09T06:40:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496015.75 epoch sec; seqNo:1575; 4061659.67 north; 594267.36 east 2020-12-09T06:40:15Z- waiting for 1607496015.53, time is 1607496015.36 2020-12-09T06:40:15Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:16Z- AHRS_M2 msg: 1607496016.13 epoch sec; seqNo:1526 2020-12-09T06:40:16Z- AHRS_M2 msg: 1.71 phi; 0.04 theta; -0.25 psi 2020-12-09T06:40:16Z- waiting for 1607496015.53, time is 1607496015.36 2020-12-09T06:40:16Z- sync is 0.78, coherence is 2.00 2020-12-09T06:40:16Z- handleDepth()-Depth_Keller msg: 49.92 epoch sec; seqNo:1607496016142; depth 0.00 2020-12-09T06:40:16Z- waiting for 1607496015.53, time is 1607496015.36 2020-12-09T06:40:16Z- sync is 0.78, coherence is 2.00 2020-12-09T06:40:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496016.15 epoch sec; seqNo:1576; 4061659.67 north; 594267.36 east 2020-12-09T06:40:16Z- waiting for 1607496015.53, time is 1607496015.36 2020-12-09T06:40:16Z- sync is 0.79, coherence is 2.00 2020-12-09T06:40:16Z- AHRS_M2 msg: 1607496016.54 epoch sec; seqNo:1527 2020-12-09T06:40:16Z- AHRS_M2 msg: 1.71 phi; 0.05 theta; -0.24 psi 2020-12-09T06:40:16Z- waiting for 1607496015.53, time is 1607496015.36 2020-12-09T06:40:16Z- sync is 1.18, coherence is 2.00 2020-12-09T06:40:16Z- handleDepth()-Depth_Keller msg: 49.93 epoch sec; seqNo:1607496016550; depth 0.00 2020-12-09T06:40:16Z- waiting for 1607496015.53, time is 1607496015.36 2020-12-09T06:40:16Z- sync is 1.18, coherence is 2.00 2020-12-09T06:40:16Z- handleDvl() - RDI_Pathfinder msg: 1607496016.56 epoch sec; seqNo:876 2020-12-09T06:40:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.98 , 52.04 , 45.10 , 43.47 2020-12-09T06:40:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.10 , 0.02 2020-12-09T06:40:16Z- waiting for 1607496015.53, time is 1607496016.56 2020-12-09T06:40:16Z- sync is 0.03, coherence is 2.00 2020-12-09T06:40:16Z- LcmTrn::updateTrn() >>>> pose time 1607496016.54, meas time 1607496016.56 <<<< 2020-12-09T06:40:16Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607496016.56 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:40:16Z- TerrainNav::motionUpdate() - currEstimate = (4061660, 594267.36, 49.93) 2020-12-09T06:40:16Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:40:16Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:40:16Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:40:16Z- TNavBF::mmse selected from filter -1 2020-12-09T06:40:16Z- variances([0], [2], and psi_berg) = 788.511022 833.080920 0.000000 2020-12-09T06:40:16Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:40:16Z- LcmTrn::cycle() - MLE : 4061633.17 594219.86 49.93 2020-12-09T06:40:16Z- LcmTrn::cycle() - MMSE : 4061659.67 594267.36 49.93 2020-12-09T06:40:16Z- LcmTrn::cycle() - COVAR: 788.51 833.08 54.34 0.00 2020-12-09T06:40:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496016.57 epoch sec; seqNo:1577; 4061659.69 north; 594268.58 east 2020-12-09T06:40:16Z- waiting for 1607496019.56, time is 1607496016.56 2020-12-09T06:40:16Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:16Z- AHRS_M2 msg: 1607496016.94 epoch sec; seqNo:1528 2020-12-09T06:40:16Z- AHRS_M2 msg: 1.70 phi; 0.05 theta; -0.25 psi 2020-12-09T06:40:16Z- waiting for 1607496019.56, time is 1607496016.56 2020-12-09T06:40:16Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:16Z- handleDepth()-Depth_Keller msg: 49.95 epoch sec; seqNo:1607496016950; depth 0.00 2020-12-09T06:40:16Z- waiting for 1607496019.56, time is 1607496016.56 2020-12-09T06:40:16Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:16Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:16Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:16Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:16Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:40:16Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:40:16Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:40:16Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:40:16Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:40:16Z- handleDvl() - RDI_Pathfinder msg: 1607496016.95 epoch sec; seqNo:877 2020-12-09T06:40:16Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:40:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.10 , 0.02 2020-12-09T06:40:16Z- waiting for 1607496019.56, time is 1607496016.95 2020-12-09T06:40:16Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496016.97 epoch sec; seqNo:1578; 4061659.69 north; 594268.58 east 2020-12-09T06:40:16Z- waiting for 1607496019.56, time is 1607496016.95 2020-12-09T06:40:16Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:17Z- AHRS_M2 msg: 1607496017.35 epoch sec; seqNo:1529 2020-12-09T06:40:17Z- AHRS_M2 msg: 1.70 phi; 0.05 theta; -0.25 psi 2020-12-09T06:40:17Z- waiting for 1607496019.56, time is 1607496016.95 2020-12-09T06:40:17Z- sync is 0.40, coherence is 2.00 2020-12-09T06:40:17Z- handleDepth()-Depth_Keller msg: 49.94 epoch sec; seqNo:1607496017354; depth 0.00 2020-12-09T06:40:17Z- waiting for 1607496019.56, time is 1607496016.95 2020-12-09T06:40:17Z- sync is 0.40, coherence is 2.00 2020-12-09T06:40:17Z- handleDvl() - RDI_Pathfinder msg: 1607496017.37 epoch sec; seqNo:878 2020-12-09T06:40:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.98 , 52.45 , 44.90 , 43.47 2020-12-09T06:40:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.09 , 0.03 2020-12-09T06:40:17Z- waiting for 1607496019.56, time is 1607496017.37 2020-12-09T06:40:17Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496017.39 epoch sec; seqNo:1579; 4061659.69 north; 594268.58 east 2020-12-09T06:40:17Z- waiting for 1607496019.56, time is 1607496017.37 2020-12-09T06:40:17Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:17Z- AHRS_M2 msg: 1607496017.75 epoch sec; seqNo:1530 2020-12-09T06:40:17Z- AHRS_M2 msg: 1.69 phi; 0.05 theta; -0.25 psi 2020-12-09T06:40:17Z- waiting for 1607496019.56, time is 1607496017.37 2020-12-09T06:40:17Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:17Z- handleDepth()-Depth_Keller msg: 49.92 epoch sec; seqNo:1607496017758; depth 0.00 2020-12-09T06:40:17Z- waiting for 1607496019.56, time is 1607496017.37 2020-12-09T06:40:17Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496017.77 epoch sec; seqNo:1580; 4061659.70 north; 594269.80 east 2020-12-09T06:40:17Z- waiting for 1607496019.56, time is 1607496017.37 2020-12-09T06:40:17Z- sync is 0.40, coherence is 2.00 2020-12-09T06:40:18Z- AHRS_M2 msg: 1607496018.15 epoch sec; seqNo:1531 2020-12-09T06:40:18Z- AHRS_M2 msg: 1.69 phi; 0.06 theta; -0.25 psi 2020-12-09T06:40:18Z- waiting for 1607496019.56, time is 1607496017.37 2020-12-09T06:40:18Z- sync is 0.79, coherence is 2.00 2020-12-09T06:40:18Z- handleDepth()-Depth_Keller msg: 49.92 epoch sec; seqNo:1607496018168; depth 0.00 2020-12-09T06:40:18Z- waiting for 1607496019.56, time is 1607496017.37 2020-12-09T06:40:18Z- sync is 0.79, coherence is 2.00 2020-12-09T06:40:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496018.18 epoch sec; seqNo:1581; 4061659.70 north; 594269.80 east 2020-12-09T06:40:18Z- waiting for 1607496019.56, time is 1607496017.37 2020-12-09T06:40:18Z- sync is 0.81, coherence is 2.00 2020-12-09T06:40:18Z- AHRS_M2 msg: 1607496018.56 epoch sec; seqNo:1532 2020-12-09T06:40:18Z- AHRS_M2 msg: 1.68 phi; 0.06 theta; -0.25 psi 2020-12-09T06:40:18Z- waiting for 1607496019.56, time is 1607496017.37 2020-12-09T06:40:18Z- sync is 1.19, coherence is 2.00 2020-12-09T06:40:18Z- handleDepth()-Depth_Keller msg: 49.89 epoch sec; seqNo:1607496018563; depth 0.00 2020-12-09T06:40:18Z- waiting for 1607496019.56, time is 1607496017.37 2020-12-09T06:40:18Z- sync is 1.19, coherence is 2.00 2020-12-09T06:40:18Z- handleDvl() - RDI_Pathfinder msg: 1607496018.58 epoch sec; seqNo:879 2020-12-09T06:40:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.19 , 52.25 , 44.70 , 43.47 2020-12-09T06:40:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.07 , 0.04 2020-12-09T06:40:18Z- waiting for 1607496019.56, time is 1607496018.58 2020-12-09T06:40:18Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496018.60 epoch sec; seqNo:1582; 4061659.32 north; 594269.81 east 2020-12-09T06:40:18Z- waiting for 1607496019.56, time is 1607496018.58 2020-12-09T06:40:18Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:18Z- AHRS_M2 msg: 1607496018.97 epoch sec; seqNo:1533 2020-12-09T06:40:18Z- AHRS_M2 msg: 1.68 phi; 0.06 theta; -0.25 psi 2020-12-09T06:40:18Z- waiting for 1607496019.56, time is 1607496018.58 2020-12-09T06:40:18Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:18Z- handleDepth()-Depth_Keller msg: 49.88 epoch sec; seqNo:1607496018971; depth 0.00 2020-12-09T06:40:18Z- waiting for 1607496019.56, time is 1607496018.58 2020-12-09T06:40:18Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496018.98 epoch sec; seqNo:1583; 4061659.34 north; 594271.03 east 2020-12-09T06:40:18Z- waiting for 1607496019.56, time is 1607496018.58 2020-12-09T06:40:18Z- sync is 0.41, coherence is 2.00 2020-12-09T06:40:19Z- AHRS_M2 msg: 1607496019.37 epoch sec; seqNo:1534 2020-12-09T06:40:19Z- AHRS_M2 msg: 1.67 phi; 0.06 theta; -0.25 psi 2020-12-09T06:40:19Z- waiting for 1607496019.56, time is 1607496018.58 2020-12-09T06:40:19Z- sync is 0.79, coherence is 2.00 2020-12-09T06:40:19Z- handleDepth()-Depth_Keller msg: 49.87 epoch sec; seqNo:1607496019382; depth 0.00 2020-12-09T06:40:19Z- waiting for 1607496019.56, time is 1607496018.58 2020-12-09T06:40:19Z- sync is 0.79, coherence is 2.00 2020-12-09T06:40:19Z- handleDvl() - RDI_Pathfinder msg: 1607496019.39 epoch sec; seqNo:880 2020-12-09T06:40:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.19 , 52.45 , 45.31 , 43.47 2020-12-09T06:40:19Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.07 , 0.04 2020-12-09T06:40:19Z- waiting for 1607496019.56, time is 1607496019.39 2020-12-09T06:40:19Z- sync is 0.03, coherence is 2.00 2020-12-09T06:40:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496019.41 epoch sec; seqNo:1584; 4061659.34 north; 594271.03 east 2020-12-09T06:40:19Z- waiting for 1607496019.56, time is 1607496019.39 2020-12-09T06:40:19Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:19Z- AHRS_M2 msg: 1607496019.77 epoch sec; seqNo:1535 2020-12-09T06:40:19Z- AHRS_M2 msg: 1.67 phi; 0.06 theta; -0.25 psi 2020-12-09T06:40:19Z- waiting for 1607496019.56, time is 1607496019.39 2020-12-09T06:40:19Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:19Z- handleDepth()-Depth_Keller msg: 49.85 epoch sec; seqNo:1607496019773; depth 0.00 2020-12-09T06:40:19Z- waiting for 1607496019.56, time is 1607496019.39 2020-12-09T06:40:19Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496019.80 epoch sec; seqNo:1585; 4061659.34 north; 594271.03 east 2020-12-09T06:40:19Z- waiting for 1607496019.56, time is 1607496019.39 2020-12-09T06:40:19Z- sync is 0.40, coherence is 2.00 2020-12-09T06:40:20Z- AHRS_M2 msg: 1607496020.17 epoch sec; seqNo:1536 2020-12-09T06:40:20Z- AHRS_M2 msg: 1.66 phi; 0.06 theta; -0.25 psi 2020-12-09T06:40:20Z- waiting for 1607496019.56, time is 1607496019.39 2020-12-09T06:40:20Z- sync is 0.78, coherence is 2.00 2020-12-09T06:40:20Z- handleDepth()-Depth_Keller msg: 49.84 epoch sec; seqNo:1607496020186; depth 0.00 2020-12-09T06:40:20Z- waiting for 1607496019.56, time is 1607496019.39 2020-12-09T06:40:20Z- sync is 0.78, coherence is 2.00 2020-12-09T06:40:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496020.19 epoch sec; seqNo:1586; 4061659.35 north; 594272.25 east 2020-12-09T06:40:20Z- waiting for 1607496019.56, time is 1607496019.39 2020-12-09T06:40:20Z- sync is 0.80, coherence is 2.00 2020-12-09T06:40:20Z- AHRS_M2 msg: 1607496020.58 epoch sec; seqNo:1537 2020-12-09T06:40:20Z- AHRS_M2 msg: 1.66 phi; 0.07 theta; -0.25 psi 2020-12-09T06:40:20Z- waiting for 1607496019.56, time is 1607496019.39 2020-12-09T06:40:20Z- sync is 1.18, coherence is 2.00 2020-12-09T06:40:20Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1607496020583; depth 0.00 2020-12-09T06:40:20Z- waiting for 1607496019.56, time is 1607496019.39 2020-12-09T06:40:20Z- sync is 1.18, coherence is 2.00 2020-12-09T06:40:20Z- handleDvl() - RDI_Pathfinder msg: 1607496020.60 epoch sec; seqNo:881 2020-12-09T06:40:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.39 , 52.66 , 45.10 , 43.47 2020-12-09T06:40:20Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.02 , 0.03 2020-12-09T06:40:20Z- waiting for 1607496019.56, time is 1607496020.60 2020-12-09T06:40:20Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:20Z- LcmTrn::updateTrn() >>>> pose time 1607496020.58, meas time 1607496020.60 <<<< 2020-12-09T06:40:20Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607496020.60 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:40:20Z- TerrainNav::motionUpdate() - currEstimate = (4061659, 594272.25, 49.81) 2020-12-09T06:40:20Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:40:20Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:40:20Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:40:20Z- TNavBF::mmse selected from filter -1 2020-12-09T06:40:20Z- variances([0], [2], and psi_berg) = 788.314139 833.080589 0.000000 2020-12-09T06:40:20Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:40:20Z- LcmTrn::cycle() - MLE : 4061632.85 594225.75 49.81 2020-12-09T06:40:20Z- LcmTrn::cycle() - MMSE : 4061659.35 594272.25 49.81 2020-12-09T06:40:20Z- LcmTrn::cycle() - COVAR: 788.31 833.08 54.59 0.00 2020-12-09T06:40:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496020.61 epoch sec; seqNo:1587; 4061659.35 north; 594272.25 east 2020-12-09T06:40:20Z- waiting for 1607496023.60, time is 1607496020.60 2020-12-09T06:40:20Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:20Z- AHRS_M2 msg: 1607496020.98 epoch sec; seqNo:1538 2020-12-09T06:40:20Z- AHRS_M2 msg: 1.65 phi; 0.07 theta; -0.25 psi 2020-12-09T06:40:20Z- waiting for 1607496023.60, time is 1607496020.60 2020-12-09T06:40:20Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:20Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1607496020986; depth 0.00 2020-12-09T06:40:20Z- waiting for 1607496023.60, time is 1607496020.60 2020-12-09T06:40:20Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496021.01 epoch sec; seqNo:1588; 4061659.35 north; 594272.25 east 2020-12-09T06:40:20Z- waiting for 1607496023.60, time is 1607496020.60 2020-12-09T06:40:20Z- sync is 0.41, coherence is 2.00 2020-12-09T06:40:21Z- AHRS_M2 msg: 1607496021.39 epoch sec; seqNo:1539 2020-12-09T06:40:21Z- AHRS_M2 msg: 1.65 phi; 0.07 theta; -0.25 psi 2020-12-09T06:40:21Z- waiting for 1607496023.60, time is 1607496020.60 2020-12-09T06:40:21Z- sync is 0.79, coherence is 2.00 2020-12-09T06:40:21Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1607496021398; depth 0.00 2020-12-09T06:40:21Z- waiting for 1607496023.60, time is 1607496020.60 2020-12-09T06:40:21Z- sync is 0.79, coherence is 2.00 2020-12-09T06:40:21Z- handleDvl() - RDI_Pathfinder msg: 1607496021.42 epoch sec; seqNo:882 2020-12-09T06:40:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.19 , 52.86 , 45.51 , 43.47 2020-12-09T06:40:21Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.03 , -0.01 2020-12-09T06:40:21Z- waiting for 1607496023.60, time is 1607496021.42 2020-12-09T06:40:21Z- sync is 0.03, coherence is 2.00 2020-12-09T06:40:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496021.43 epoch sec; seqNo:1589; 4061659.36 north; 594273.47 east 2020-12-09T06:40:21Z- waiting for 1607496023.60, time is 1607496021.42 2020-12-09T06:40:21Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:21Z- AHRS_M2 msg: 1607496021.79 epoch sec; seqNo:1540 2020-12-09T06:40:21Z- AHRS_M2 msg: 1.65 phi; 0.07 theta; -0.25 psi 2020-12-09T06:40:21Z- waiting for 1607496023.60, time is 1607496021.42 2020-12-09T06:40:21Z- sync is 0.37, coherence is 2.00 2020-12-09T06:40:21Z- handleDepth()-Depth_Keller msg: 49.72 epoch sec; seqNo:1607496021793; depth 0.00 2020-12-09T06:40:21Z- waiting for 1607496023.60, time is 1607496021.42 2020-12-09T06:40:21Z- sync is 0.37, coherence is 2.00 2020-12-09T06:40:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496021.81 epoch sec; seqNo:1590; 4061659.36 north; 594273.47 east 2020-12-09T06:40:21Z- waiting for 1607496023.60, time is 1607496021.42 2020-12-09T06:40:21Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:22Z- AHRS_M2 msg: 1607496022.19 epoch sec; seqNo:1541 2020-12-09T06:40:22Z- AHRS_M2 msg: 1.64 phi; 0.07 theta; -0.25 psi 2020-12-09T06:40:22Z- waiting for 1607496023.60, time is 1607496021.42 2020-12-09T06:40:22Z- sync is 0.77, coherence is 2.00 2020-12-09T06:40:22Z- handleDepth()-Depth_Keller msg: 49.69 epoch sec; seqNo:1607496022200; depth 0.00 2020-12-09T06:40:22Z- waiting for 1607496023.60, time is 1607496021.42 2020-12-09T06:40:22Z- sync is 0.77, coherence is 2.00 2020-12-09T06:40:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496022.21 epoch sec; seqNo:1591; 4061659.36 north; 594273.47 east 2020-12-09T06:40:22Z- waiting for 1607496023.60, time is 1607496021.42 2020-12-09T06:40:22Z- sync is 0.79, coherence is 2.00 2020-12-09T06:40:22Z- AHRS_M2 msg: 1607496022.60 epoch sec; seqNo:1542 2020-12-09T06:40:22Z- AHRS_M2 msg: 1.64 phi; 0.07 theta; -0.25 psi 2020-12-09T06:40:22Z- waiting for 1607496023.60, time is 1607496021.42 2020-12-09T06:40:22Z- sync is 1.18, coherence is 2.00 2020-12-09T06:40:22Z- handleDepth()-Depth_Keller msg: 49.66 epoch sec; seqNo:1607496022606; depth 0.00 2020-12-09T06:40:22Z- waiting for 1607496023.60, time is 1607496021.42 2020-12-09T06:40:22Z- sync is 1.18, coherence is 2.00 2020-12-09T06:40:22Z- handleDvl() - RDI_Pathfinder msg: 1607496022.63 epoch sec; seqNo:883 2020-12-09T06:40:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.39 , 52.66 , 45.72 , 43.47 2020-12-09T06:40:22Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.02 , -0.05 2020-12-09T06:40:22Z- waiting for 1607496023.60, time is 1607496022.63 2020-12-09T06:40:22Z- sync is 0.03, coherence is 2.00 2020-12-09T06:40:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496022.64 epoch sec; seqNo:1592; 4061659.38 north; 594274.69 east 2020-12-09T06:40:22Z- waiting for 1607496023.60, time is 1607496022.63 2020-12-09T06:40:22Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:22Z- AHRS_M2 msg: 1607496023.00 epoch sec; seqNo:1543 2020-12-09T06:40:22Z- AHRS_M2 msg: 1.64 phi; 0.07 theta; -0.25 psi 2020-12-09T06:40:22Z- waiting for 1607496023.60, time is 1607496022.63 2020-12-09T06:40:22Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:22Z- handleDepth()-Depth_Keller msg: 49.64 epoch sec; seqNo:1607496023010; depth 0.00 2020-12-09T06:40:22Z- waiting for 1607496023.60, time is 1607496022.63 2020-12-09T06:40:22Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496023.02 epoch sec; seqNo:1593; 4061659.38 north; 594274.69 east 2020-12-09T06:40:22Z- waiting for 1607496023.60, time is 1607496022.63 2020-12-09T06:40:22Z- sync is 0.40, coherence is 2.00 2020-12-09T06:40:23Z- AHRS_M2 msg: 1607496023.40 epoch sec; seqNo:1544 2020-12-09T06:40:23Z- AHRS_M2 msg: 1.63 phi; 0.07 theta; -0.25 psi 2020-12-09T06:40:23Z- waiting for 1607496023.60, time is 1607496022.63 2020-12-09T06:40:23Z- sync is 0.78, coherence is 2.00 2020-12-09T06:40:23Z- handleDepth()-Depth_Keller msg: 49.59 epoch sec; seqNo:1607496023416; depth 0.00 2020-12-09T06:40:23Z- waiting for 1607496023.60, time is 1607496022.63 2020-12-09T06:40:23Z- sync is 0.78, coherence is 2.00 2020-12-09T06:40:23Z- handleDvl() - RDI_Pathfinder msg: 1607496023.43 epoch sec; seqNo:884 2020-12-09T06:40:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.19 , 52.46 , 45.72 , 43.48 2020-12-09T06:40:23Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.05 , -0.08 2020-12-09T06:40:23Z- waiting for 1607496023.60, time is 1607496023.43 2020-12-09T06:40:23Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496023.44 epoch sec; seqNo:1594; 4061659.38 north; 594274.69 east 2020-12-09T06:40:23Z- waiting for 1607496023.60, time is 1607496023.43 2020-12-09T06:40:23Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:23Z- AHRS_M2 msg: 1607496023.81 epoch sec; seqNo:1545 2020-12-09T06:40:23Z- AHRS_M2 msg: 1.63 phi; 0.07 theta; -0.25 psi 2020-12-09T06:40:23Z- waiting for 1607496023.60, time is 1607496023.43 2020-12-09T06:40:23Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:23Z- handleDepth()-Depth_Keller msg: 49.55 epoch sec; seqNo:1607496023813; depth 0.00 2020-12-09T06:40:23Z- waiting for 1607496023.60, time is 1607496023.43 2020-12-09T06:40:23Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496023.83 epoch sec; seqNo:1595; 4061659.39 north; 594275.91 east 2020-12-09T06:40:23Z- waiting for 1607496023.60, time is 1607496023.43 2020-12-09T06:40:23Z- sync is 0.40, coherence is 2.00 2020-12-09T06:40:24Z- AHRS_M2 msg: 1607496024.21 epoch sec; seqNo:1546 2020-12-09T06:40:24Z- AHRS_M2 msg: 1.63 phi; 0.07 theta; -0.25 psi 2020-12-09T06:40:24Z- waiting for 1607496023.60, time is 1607496023.43 2020-12-09T06:40:24Z- sync is 0.78, coherence is 2.00 2020-12-09T06:40:24Z- handleDepth()-Depth_Keller msg: 49.52 epoch sec; seqNo:1607496024218; depth 0.00 2020-12-09T06:40:24Z- waiting for 1607496023.60, time is 1607496023.43 2020-12-09T06:40:24Z- sync is 0.78, coherence is 2.00 2020-12-09T06:40:24Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:24Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:24Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:24Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:40:24Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:40:24Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:40:24Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:40:24Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:40:24Z- handleDvl() - RDI_Pathfinder msg: 1607496024.22 epoch sec; seqNo:885 2020-12-09T06:40:24Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:40:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.05 , -0.08 2020-12-09T06:40:24Z- waiting for 1607496023.60, time is 1607496024.22 2020-12-09T06:40:24Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:24Z- LcmTrn::updateTrn() >>>> pose time 1607496024.21, meas time 1607496024.22 <<<< 2020-12-09T06:40:24Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607496024.22, ping # 0. 2020-12-09T06:40:24Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607496024.22 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:40:24Z- TerrainNav::motionUpdate() - currEstimate = (4061659, 594275.91, 49.52) 2020-12-09T06:40:24Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:40:24Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:40:24Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:40:24Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:40:24Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:40:24Z- TNavBF::mmse selected from filter -1 2020-12-09T06:40:24Z- variances([0], [2], and psi_berg) = 788.144529 833.080304 0.000000 2020-12-09T06:40:24Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:40:24Z- LcmTrn::cycle() - MLE : 4061633.89 594229.41 49.52 2020-12-09T06:40:24Z- LcmTrn::cycle() - MMSE : 4061659.39 594275.91 49.52 2020-12-09T06:40:24Z- LcmTrn::cycle() - COVAR: 788.14 833.08 54.78 0.00 2020-12-09T06:40:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496024.23 epoch sec; seqNo:1596; 4061659.39 north; 594275.91 east 2020-12-09T06:40:24Z- waiting for 1607496027.22, time is 1607496024.22 2020-12-09T06:40:24Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:24Z- AHRS_M2 msg: 1607496024.62 epoch sec; seqNo:1547 2020-12-09T06:40:24Z- AHRS_M2 msg: 1.63 phi; 0.07 theta; -0.25 psi 2020-12-09T06:40:24Z- waiting for 1607496027.22, time is 1607496024.22 2020-12-09T06:40:24Z- sync is 0.40, coherence is 2.00 2020-12-09T06:40:24Z- handleDepth()-Depth_Keller msg: 49.49 epoch sec; seqNo:1607496024625; depth 0.00 2020-12-09T06:40:24Z- waiting for 1607496027.22, time is 1607496024.22 2020-12-09T06:40:24Z- sync is 0.40, coherence is 2.00 2020-12-09T06:40:24Z- handleDvl() - RDI_Pathfinder msg: 1607496024.64 epoch sec; seqNo:886 2020-12-09T06:40:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.19 , 52.46 , 45.52 , 43.48 2020-12-09T06:40:24Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.08 , -0.10 2020-12-09T06:40:24Z- waiting for 1607496027.22, time is 1607496024.64 2020-12-09T06:40:24Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496024.65 epoch sec; seqNo:1597; 4061659.39 north; 594275.91 east 2020-12-09T06:40:24Z- waiting for 1607496027.22, time is 1607496024.64 2020-12-09T06:40:24Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:24Z- AHRS_M2 msg: 1607496025.02 epoch sec; seqNo:1548 2020-12-09T06:40:24Z- AHRS_M2 msg: 1.63 phi; 0.07 theta; -0.24 psi 2020-12-09T06:40:24Z- waiting for 1607496027.22, time is 1607496024.64 2020-12-09T06:40:24Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:24Z- handleDepth()-Depth_Keller msg: 49.44 epoch sec; seqNo:1607496025038; depth 0.00 2020-12-09T06:40:24Z- waiting for 1607496027.22, time is 1607496024.64 2020-12-09T06:40:24Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496025.05 epoch sec; seqNo:1598; 4061659.40 north; 594277.13 east 2020-12-09T06:40:24Z- waiting for 1607496027.22, time is 1607496024.64 2020-12-09T06:40:24Z- sync is 0.42, coherence is 2.00 2020-12-09T06:40:25Z- AHRS_M2 msg: 1607496025.43 epoch sec; seqNo:1549 2020-12-09T06:40:25Z- AHRS_M2 msg: 1.62 phi; 0.07 theta; -0.25 psi 2020-12-09T06:40:25Z- waiting for 1607496027.22, time is 1607496024.64 2020-12-09T06:40:25Z- sync is 0.79, coherence is 2.00 2020-12-09T06:40:25Z- handleDepth()-Depth_Keller msg: 49.42 epoch sec; seqNo:1607496025434; depth 0.00 2020-12-09T06:40:25Z- waiting for 1607496027.22, time is 1607496024.64 2020-12-09T06:40:25Z- sync is 0.79, coherence is 2.00 2020-12-09T06:40:25Z- handleDvl() - RDI_Pathfinder msg: 1607496025.46 epoch sec; seqNo:887 2020-12-09T06:40:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.19 , 52.66 , 45.31 , 43.27 2020-12-09T06:40:25Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , -0.09 , -0.11 2020-12-09T06:40:25Z- waiting for 1607496027.22, time is 1607496025.46 2020-12-09T06:40:25Z- sync is 0.03, coherence is 2.00 2020-12-09T06:40:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496025.47 epoch sec; seqNo:1599; 4061659.40 north; 594277.13 east 2020-12-09T06:40:25Z- waiting for 1607496027.22, time is 1607496025.46 2020-12-09T06:40:25Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:25Z- AHRS_M2 msg: 1607496025.84 epoch sec; seqNo:1550 2020-12-09T06:40:25Z- AHRS_M2 msg: 1.62 phi; 0.07 theta; -0.25 psi 2020-12-09T06:40:25Z- waiting for 1607496027.22, time is 1607496025.46 2020-12-09T06:40:25Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:25Z- handleDepth()-Depth_Keller msg: 49.38 epoch sec; seqNo:1607496025841; depth 0.00 2020-12-09T06:40:25Z- waiting for 1607496027.22, time is 1607496025.46 2020-12-09T06:40:25Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496025.86 epoch sec; seqNo:1600; 4061659.40 north; 594277.13 east 2020-12-09T06:40:25Z- waiting for 1607496027.22, time is 1607496025.46 2020-12-09T06:40:25Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:26Z- AHRS_M2 msg: 1607496026.24 epoch sec; seqNo:1551 2020-12-09T06:40:26Z- AHRS_M2 msg: 1.61 phi; 0.07 theta; -0.25 psi 2020-12-09T06:40:26Z- waiting for 1607496027.22, time is 1607496025.46 2020-12-09T06:40:26Z- sync is 0.78, coherence is 2.00 2020-12-09T06:40:26Z- handleDepth()-Depth_Keller msg: 49.35 epoch sec; seqNo:1607496026245; depth 0.00 2020-12-09T06:40:26Z- waiting for 1607496027.22, time is 1607496025.46 2020-12-09T06:40:26Z- sync is 0.78, coherence is 2.00 2020-12-09T06:40:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496026.26 epoch sec; seqNo:1601; 4061659.42 north; 594278.35 east 2020-12-09T06:40:26Z- waiting for 1607496027.22, time is 1607496025.46 2020-12-09T06:40:26Z- sync is 0.80, coherence is 2.00 2020-12-09T06:40:26Z- AHRS_M2 msg: 1607496026.64 epoch sec; seqNo:1552 2020-12-09T06:40:26Z- AHRS_M2 msg: 1.61 phi; 0.07 theta; -0.25 psi 2020-12-09T06:40:26Z- waiting for 1607496027.22, time is 1607496025.46 2020-12-09T06:40:26Z- sync is 1.18, coherence is 2.00 2020-12-09T06:40:26Z- handleDepth()-Depth_Keller msg: 49.33 epoch sec; seqNo:1607496026646; depth 0.00 2020-12-09T06:40:26Z- waiting for 1607496027.22, time is 1607496025.46 2020-12-09T06:40:26Z- sync is 1.18, coherence is 2.00 2020-12-09T06:40:26Z- handleDvl() - RDI_Pathfinder msg: 1607496026.67 epoch sec; seqNo:888 2020-12-09T06:40:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.98 , 52.25 , 45.31 , 43.27 2020-12-09T06:40:26Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.11 , -0.07 2020-12-09T06:40:26Z- waiting for 1607496027.22, time is 1607496026.67 2020-12-09T06:40:26Z- sync is 0.03, coherence is 2.00 2020-12-09T06:40:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496026.68 epoch sec; seqNo:1602; 4061659.42 north; 594278.35 east 2020-12-09T06:40:26Z- waiting for 1607496027.22, time is 1607496026.67 2020-12-09T06:40:26Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:26Z- AHRS_M2 msg: 1607496027.04 epoch sec; seqNo:1553 2020-12-09T06:40:26Z- AHRS_M2 msg: 1.60 phi; 0.06 theta; -0.25 psi 2020-12-09T06:40:26Z- waiting for 1607496027.22, time is 1607496026.67 2020-12-09T06:40:26Z- sync is 0.37, coherence is 2.00 2020-12-09T06:40:26Z- handleDepth()-Depth_Keller msg: 49.29 epoch sec; seqNo:1607496027045; depth 0.00 2020-12-09T06:40:26Z- waiting for 1607496027.22, time is 1607496026.67 2020-12-09T06:40:26Z- sync is 0.37, coherence is 2.00 2020-12-09T06:40:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496027.06 epoch sec; seqNo:1603; 4061659.79 north; 594278.35 east 2020-12-09T06:40:26Z- waiting for 1607496027.22, time is 1607496026.67 2020-12-09T06:40:26Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:27Z- AHRS_M2 msg: 1607496027.44 epoch sec; seqNo:1554 2020-12-09T06:40:27Z- AHRS_M2 msg: 1.60 phi; 0.06 theta; -0.24 psi 2020-12-09T06:40:27Z- waiting for 1607496027.22, time is 1607496026.67 2020-12-09T06:40:27Z- sync is 0.78, coherence is 2.00 2020-12-09T06:40:27Z- handleDepth()-Depth_Keller msg: 49.26 epoch sec; seqNo:1607496027453; depth 0.00 2020-12-09T06:40:27Z- waiting for 1607496027.22, time is 1607496026.67 2020-12-09T06:40:27Z- sync is 0.78, coherence is 2.00 2020-12-09T06:40:27Z- handleDvl() - RDI_Pathfinder msg: 1607496027.47 epoch sec; seqNo:889 2020-12-09T06:40:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.98 , 52.04 , 44.90 , 43.27 2020-12-09T06:40:27Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.11 , -0.02 2020-12-09T06:40:27Z- waiting for 1607496027.22, time is 1607496027.47 2020-12-09T06:40:27Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:27Z- LcmTrn::updateTrn() >>>> pose time 1607496027.44, meas time 1607496027.47 <<<< 2020-12-09T06:40:27Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607496027.47 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:40:27Z- TerrainNav::motionUpdate() - currEstimate = (4061660, 594278.35, 49.26) 2020-12-09T06:40:27Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:40:27Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:40:27Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:40:27Z- TNavBF::mmse selected from filter -1 2020-12-09T06:40:27Z- variances([0], [2], and psi_berg) = 788.005667 833.080072 0.000000 2020-12-09T06:40:27Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:40:27Z- LcmTrn::cycle() - MLE : 4061634.29 594231.85 49.26 2020-12-09T06:40:27Z- LcmTrn::cycle() - MMSE : 4061659.79 594278.35 49.26 2020-12-09T06:40:27Z- LcmTrn::cycle() - COVAR: 788.01 833.08 54.90 0.00 2020-12-09T06:40:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496027.48 epoch sec; seqNo:1604; 4061659.79 north; 594278.35 east 2020-12-09T06:40:27Z- waiting for 1607496030.47, time is 1607496027.47 2020-12-09T06:40:27Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:27Z- AHRS_M2 msg: 1607496027.85 epoch sec; seqNo:1555 2020-12-09T06:40:27Z- AHRS_M2 msg: 1.59 phi; 0.06 theta; -0.24 psi 2020-12-09T06:40:27Z- waiting for 1607496030.47, time is 1607496027.47 2020-12-09T06:40:27Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:27Z- handleDepth()-Depth_Keller msg: 49.24 epoch sec; seqNo:1607496027855; depth 0.00 2020-12-09T06:40:27Z- waiting for 1607496030.47, time is 1607496027.47 2020-12-09T06:40:27Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496027.87 epoch sec; seqNo:1605; 4061659.81 north; 594279.57 east 2020-12-09T06:40:27Z- waiting for 1607496030.47, time is 1607496027.47 2020-12-09T06:40:27Z- sync is 0.40, coherence is 2.00 2020-12-09T06:40:28Z- AHRS_M2 msg: 1607496028.26 epoch sec; seqNo:1556 2020-12-09T06:40:28Z- AHRS_M2 msg: 1.59 phi; 0.06 theta; -0.24 psi 2020-12-09T06:40:28Z- waiting for 1607496030.47, time is 1607496027.47 2020-12-09T06:40:28Z- sync is 0.79, coherence is 2.00 2020-12-09T06:40:28Z- handleDepth()-Depth_Keller msg: 49.23 epoch sec; seqNo:1607496028260; depth 0.00 2020-12-09T06:40:28Z- waiting for 1607496030.47, time is 1607496027.47 2020-12-09T06:40:28Z- sync is 0.79, coherence is 2.00 2020-12-09T06:40:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496028.33 epoch sec; seqNo:1606; 4061659.81 north; 594279.57 east 2020-12-09T06:40:28Z- waiting for 1607496030.47, time is 1607496027.47 2020-12-09T06:40:28Z- sync is 0.86, coherence is 2.00 2020-12-09T06:40:28Z- AHRS_M2 msg: 1607496028.66 epoch sec; seqNo:1557 2020-12-09T06:40:28Z- AHRS_M2 msg: 1.58 phi; 0.05 theta; -0.24 psi 2020-12-09T06:40:28Z- waiting for 1607496030.47, time is 1607496027.47 2020-12-09T06:40:28Z- sync is 1.19, coherence is 2.00 2020-12-09T06:40:28Z- handleDepth()-Depth_Keller msg: 49.18 epoch sec; seqNo:1607496028666; depth 0.00 2020-12-09T06:40:28Z- waiting for 1607496030.47, time is 1607496027.47 2020-12-09T06:40:28Z- sync is 1.19, coherence is 2.00 2020-12-09T06:40:28Z- handleDvl() - RDI_Pathfinder msg: 1607496028.69 epoch sec; seqNo:890 2020-12-09T06:40:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.98 , 52.04 , 44.70 , 43.47 2020-12-09T06:40:28Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.09 , 0.04 2020-12-09T06:40:28Z- waiting for 1607496030.47, time is 1607496028.69 2020-12-09T06:40:28Z- sync is 0.04, coherence is 2.00 2020-12-09T06:40:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496028.70 epoch sec; seqNo:1607; 4061659.81 north; 594279.57 east 2020-12-09T06:40:28Z- waiting for 1607496030.47, time is 1607496028.69 2020-12-09T06:40:28Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:28Z- AHRS_M2 msg: 1607496029.06 epoch sec; seqNo:1558 2020-12-09T06:40:29Z- AHRS_M2 msg: 1.58 phi; 0.05 theta; -0.25 psi 2020-12-09T06:40:29Z- waiting for 1607496030.47, time is 1607496028.69 2020-12-09T06:40:29Z- sync is 0.37, coherence is 2.00 2020-12-09T06:40:29Z- handleDepth()-Depth_Keller msg: 49.18 epoch sec; seqNo:1607496029066; depth 0.00 2020-12-09T06:40:29Z- waiting for 1607496030.47, time is 1607496028.69 2020-12-09T06:40:29Z- sync is 0.37, coherence is 2.00 2020-12-09T06:40:29Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:29Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:29Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:29Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:40:29Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:40:29Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:40:29Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:40:29Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:40:29Z- handleDvl() - RDI_Pathfinder msg: 1607496029.07 epoch sec; seqNo:891 2020-12-09T06:40:29Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:40:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.09 , 0.04 2020-12-09T06:40:29Z- waiting for 1607496030.47, time is 1607496029.07 2020-12-09T06:40:29Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496029.08 epoch sec; seqNo:1608; 4061659.81 north; 594279.57 east 2020-12-09T06:40:29Z- waiting for 1607496030.47, time is 1607496029.07 2020-12-09T06:40:29Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:29Z- AHRS_M2 msg: 1607496029.46 epoch sec; seqNo:1559 2020-12-09T06:40:29Z- AHRS_M2 msg: 1.57 phi; 0.05 theta; -0.25 psi 2020-12-09T06:40:29Z- waiting for 1607496030.47, time is 1607496029.07 2020-12-09T06:40:29Z- sync is 0.40, coherence is 2.00 2020-12-09T06:40:29Z- handleDepth()-Depth_Keller msg: 49.16 epoch sec; seqNo:1607496029475; depth 0.00 2020-12-09T06:40:29Z- waiting for 1607496030.47, time is 1607496029.07 2020-12-09T06:40:29Z- sync is 0.40, coherence is 2.00 2020-12-09T06:40:29Z- handleDvl() - RDI_Pathfinder msg: 1607496029.49 epoch sec; seqNo:892 2020-12-09T06:40:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.98 , 52.04 , 44.49 , 43.88 2020-12-09T06:40:29Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , -0.06 , 0.09 2020-12-09T06:40:29Z- waiting for 1607496030.47, time is 1607496029.49 2020-12-09T06:40:29Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496029.50 epoch sec; seqNo:1609; 4061659.82 north; 594280.79 east 2020-12-09T06:40:29Z- waiting for 1607496030.47, time is 1607496029.49 2020-12-09T06:40:29Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:29Z- AHRS_M2 msg: 1607496029.87 epoch sec; seqNo:1560 2020-12-09T06:40:29Z- AHRS_M2 msg: 1.57 phi; 0.05 theta; -0.25 psi 2020-12-09T06:40:29Z- waiting for 1607496030.47, time is 1607496029.49 2020-12-09T06:40:29Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:29Z- handleDepth()-Depth_Keller msg: 49.14 epoch sec; seqNo:1607496029873; depth 0.00 2020-12-09T06:40:29Z- waiting for 1607496030.47, time is 1607496029.49 2020-12-09T06:40:29Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496029.90 epoch sec; seqNo:1610; 4061659.82 north; 594280.79 east 2020-12-09T06:40:29Z- waiting for 1607496030.47, time is 1607496029.49 2020-12-09T06:40:29Z- sync is 0.41, coherence is 2.00 2020-12-09T06:40:30Z- AHRS_M2 msg: 1607496030.31 epoch sec; seqNo:1561 2020-12-09T06:40:30Z- AHRS_M2 msg: 1.56 phi; 0.05 theta; -0.25 psi 2020-12-09T06:40:30Z- waiting for 1607496030.47, time is 1607496029.49 2020-12-09T06:40:30Z- sync is 0.82, coherence is 2.00 2020-12-09T06:40:30Z- handleDepth()-Depth_Keller msg: 49.14 epoch sec; seqNo:1607496030314; depth 0.00 2020-12-09T06:40:30Z- waiting for 1607496030.47, time is 1607496029.49 2020-12-09T06:40:30Z- sync is 0.82, coherence is 2.00 2020-12-09T06:40:30Z- handleDvl() - RDI_Pathfinder msg: 1607496030.33 epoch sec; seqNo:893 2020-12-09T06:40:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.19 , 51.84 , 44.49 , 43.88 2020-12-09T06:40:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.93 , -0.04 , 0.13 2020-12-09T06:40:30Z- waiting for 1607496030.47, time is 1607496030.33 2020-12-09T06:40:30Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496030.35 epoch sec; seqNo:1611; 4061659.82 north; 594280.79 east 2020-12-09T06:40:30Z- waiting for 1607496030.47, time is 1607496030.33 2020-12-09T06:40:30Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:30Z- AHRS_M2 msg: 1607496030.68 epoch sec; seqNo:1562 2020-12-09T06:40:30Z- AHRS_M2 msg: 1.56 phi; 0.05 theta; -0.25 psi 2020-12-09T06:40:30Z- waiting for 1607496030.47, time is 1607496030.33 2020-12-09T06:40:30Z- sync is 0.34, coherence is 2.00 2020-12-09T06:40:30Z- handleDepth()-Depth_Keller msg: 49.12 epoch sec; seqNo:1607496030692; depth 0.00 2020-12-09T06:40:30Z- waiting for 1607496030.47, time is 1607496030.33 2020-12-09T06:40:30Z- sync is 0.34, coherence is 2.00 2020-12-09T06:40:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496030.71 epoch sec; seqNo:1612; 4061659.83 north; 594282.01 east 2020-12-09T06:40:30Z- waiting for 1607496030.47, time is 1607496030.33 2020-12-09T06:40:30Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:31Z- AHRS_M2 msg: 1607496031.08 epoch sec; seqNo:1563 2020-12-09T06:40:31Z- AHRS_M2 msg: 1.56 phi; 0.05 theta; -0.24 psi 2020-12-09T06:40:31Z- waiting for 1607496030.47, time is 1607496030.33 2020-12-09T06:40:31Z- sync is 0.75, coherence is 2.00 2020-12-09T06:40:31Z- handleDepth()-Depth_Keller msg: 49.13 epoch sec; seqNo:1607496031086; depth 0.00 2020-12-09T06:40:31Z- waiting for 1607496030.47, time is 1607496030.33 2020-12-09T06:40:31Z- sync is 0.75, coherence is 2.00 2020-12-09T06:40:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496031.10 epoch sec; seqNo:1613; 4061659.83 north; 594282.01 east 2020-12-09T06:40:31Z- waiting for 1607496030.47, time is 1607496030.33 2020-12-09T06:40:31Z- sync is 0.76, coherence is 2.00 2020-12-09T06:40:31Z- AHRS_M2 msg: 1607496031.48 epoch sec; seqNo:1564 2020-12-09T06:40:31Z- AHRS_M2 msg: 1.55 phi; 0.05 theta; -0.24 psi 2020-12-09T06:40:31Z- waiting for 1607496030.47, time is 1607496030.33 2020-12-09T06:40:31Z- sync is 1.15, coherence is 2.00 2020-12-09T06:40:31Z- handleDepth()-Depth_Keller msg: 49.11 epoch sec; seqNo:1607496031490; depth 0.00 2020-12-09T06:40:31Z- waiting for 1607496030.47, time is 1607496030.33 2020-12-09T06:40:31Z- sync is 1.15, coherence is 2.00 2020-12-09T06:40:31Z- handleDvl() - RDI_Pathfinder msg: 1607496031.50 epoch sec; seqNo:894 2020-12-09T06:40:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.19 , 52.25 , 44.29 , 44.08 2020-12-09T06:40:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.02 , 0.13 2020-12-09T06:40:31Z- waiting for 1607496030.47, time is 1607496031.50 2020-12-09T06:40:31Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:31Z- LcmTrn::updateTrn() >>>> pose time 1607496031.48, meas time 1607496031.50 <<<< 2020-12-09T06:40:31Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607496031.50 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:40:31Z- TerrainNav::motionUpdate() - currEstimate = (4061660, 594282.01, 49.11) 2020-12-09T06:40:31Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:40:31Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:40:31Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:40:31Z- TNavBF::mmse selected from filter -1 2020-12-09T06:40:31Z- variances([0], [2], and psi_berg) = 787.837045 833.079791 0.000000 2020-12-09T06:40:31Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:40:31Z- LcmTrn::cycle() - MLE : 4061634.33 594235.51 49.11 2020-12-09T06:40:31Z- LcmTrn::cycle() - MMSE : 4061659.83 594282.01 49.11 2020-12-09T06:40:31Z- LcmTrn::cycle() - COVAR: 787.84 833.08 55.09 0.00 2020-12-09T06:40:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496031.52 epoch sec; seqNo:1614; 4061659.83 north; 594282.01 east 2020-12-09T06:40:31Z- waiting for 1607496034.50, time is 1607496031.50 2020-12-09T06:40:31Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:31Z- AHRS_M2 msg: 1607496031.89 epoch sec; seqNo:1565 2020-12-09T06:40:31Z- AHRS_M2 msg: 1.55 phi; 0.05 theta; -0.24 psi 2020-12-09T06:40:31Z- waiting for 1607496034.50, time is 1607496031.50 2020-12-09T06:40:31Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:31Z- handleDepth()-Depth_Keller msg: 49.10 epoch sec; seqNo:1607496031900; depth 0.00 2020-12-09T06:40:31Z- waiting for 1607496034.50, time is 1607496031.50 2020-12-09T06:40:31Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496031.91 epoch sec; seqNo:1615; 4061659.85 north; 594283.23 east 2020-12-09T06:40:31Z- waiting for 1607496034.50, time is 1607496031.50 2020-12-09T06:40:31Z- sync is 0.41, coherence is 2.00 2020-12-09T06:40:32Z- AHRS_M2 msg: 1607496032.32 epoch sec; seqNo:1566 2020-12-09T06:40:32Z- AHRS_M2 msg: 1.55 phi; 0.05 theta; -0.24 psi 2020-12-09T06:40:32Z- waiting for 1607496034.50, time is 1607496031.50 2020-12-09T06:40:32Z- sync is 0.82, coherence is 2.00 2020-12-09T06:40:32Z- handleDepth()-Depth_Keller msg: 49.11 epoch sec; seqNo:1607496032328; depth 0.00 2020-12-09T06:40:32Z- waiting for 1607496034.50, time is 1607496031.50 2020-12-09T06:40:32Z- sync is 0.82, coherence is 2.00 2020-12-09T06:40:32Z- handleDvl() - RDI_Pathfinder msg: 1607496032.34 epoch sec; seqNo:895 2020-12-09T06:40:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.39 , 52.25 , 44.08 , 44.29 2020-12-09T06:40:32Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.00 , 0.10 2020-12-09T06:40:32Z- waiting for 1607496034.50, time is 1607496032.34 2020-12-09T06:40:32Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496032.37 epoch sec; seqNo:1616; 4061659.85 north; 594283.23 east 2020-12-09T06:40:32Z- waiting for 1607496034.50, time is 1607496032.34 2020-12-09T06:40:32Z- sync is 0.03, coherence is 2.00 2020-12-09T06:40:32Z- AHRS_M2 msg: 1607496032.70 epoch sec; seqNo:1567 2020-12-09T06:40:32Z- AHRS_M2 msg: 1.55 phi; 0.05 theta; -0.24 psi 2020-12-09T06:40:32Z- waiting for 1607496034.50, time is 1607496032.34 2020-12-09T06:40:32Z- sync is 0.35, coherence is 2.00 2020-12-09T06:40:32Z- handleDepth()-Depth_Keller msg: 49.09 epoch sec; seqNo:1607496032701; depth 0.00 2020-12-09T06:40:32Z- waiting for 1607496034.50, time is 1607496032.34 2020-12-09T06:40:32Z- sync is 0.35, coherence is 2.00 2020-12-09T06:40:32Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:32Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:32Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:32Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:40:32Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:40:32Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:40:32Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:40:32Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:40:32Z- handleDvl() - RDI_Pathfinder msg: 1607496032.70 epoch sec; seqNo:896 2020-12-09T06:40:32Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:40:32Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.00 , 0.10 2020-12-09T06:40:32Z- waiting for 1607496034.50, time is 1607496032.70 2020-12-09T06:40:32Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496032.71 epoch sec; seqNo:1617; 4061659.85 north; 594283.23 east 2020-12-09T06:40:32Z- waiting for 1607496034.50, time is 1607496032.70 2020-12-09T06:40:32Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:33Z- AHRS_M2 msg: 1607496033.10 epoch sec; seqNo:1568 2020-12-09T06:40:33Z- AHRS_M2 msg: 1.55 phi; 0.05 theta; -0.23 psi 2020-12-09T06:40:33Z- waiting for 1607496034.50, time is 1607496032.70 2020-12-09T06:40:33Z- sync is 0.40, coherence is 2.00 2020-12-09T06:40:33Z- handleDepth()-Depth_Keller msg: 49.08 epoch sec; seqNo:1607496033114; depth 0.00 2020-12-09T06:40:33Z- waiting for 1607496034.50, time is 1607496032.70 2020-12-09T06:40:33Z- sync is 0.40, coherence is 2.00 2020-12-09T06:40:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496033.12 epoch sec; seqNo:1618; 4061659.86 north; 594284.45 east 2020-12-09T06:40:33Z- waiting for 1607496034.50, time is 1607496032.70 2020-12-09T06:40:33Z- sync is 0.42, coherence is 2.00 2020-12-09T06:40:33Z- AHRS_M2 msg: 1607496033.51 epoch sec; seqNo:1569 2020-12-09T06:40:33Z- AHRS_M2 msg: 1.55 phi; 0.04 theta; -0.23 psi 2020-12-09T06:40:33Z- waiting for 1607496034.50, time is 1607496032.70 2020-12-09T06:40:33Z- sync is 0.80, coherence is 2.00 2020-12-09T06:40:33Z- handleDepth()-Depth_Keller msg: 49.08 epoch sec; seqNo:1607496033510; depth 0.00 2020-12-09T06:40:33Z- waiting for 1607496034.50, time is 1607496032.70 2020-12-09T06:40:33Z- sync is 0.80, coherence is 2.00 2020-12-09T06:40:33Z- handleDvl() - RDI_Pathfinder msg: 1607496033.53 epoch sec; seqNo:897 2020-12-09T06:40:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.59 , 51.84 , 43.88 , 44.29 2020-12-09T06:40:33Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , -0.02 , 0.05 2020-12-09T06:40:33Z- waiting for 1607496034.50, time is 1607496033.53 2020-12-09T06:40:33Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496033.54 epoch sec; seqNo:1619; 4061659.86 north; 594284.45 east 2020-12-09T06:40:33Z- waiting for 1607496034.50, time is 1607496033.53 2020-12-09T06:40:33Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:33Z- AHRS_M2 msg: 1607496033.91 epoch sec; seqNo:1570 2020-12-09T06:40:33Z- AHRS_M2 msg: 1.56 phi; 0.04 theta; -0.23 psi 2020-12-09T06:40:33Z- waiting for 1607496034.50, time is 1607496033.53 2020-12-09T06:40:33Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:33Z- handleDepth()-Depth_Keller msg: 49.07 epoch sec; seqNo:1607496033914; depth 0.00 2020-12-09T06:40:33Z- waiting for 1607496034.50, time is 1607496033.53 2020-12-09T06:40:33Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:33Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:33Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:33Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:33Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:40:33Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:40:33Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:40:33Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:40:33Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:40:33Z- handleDvl() - RDI_Pathfinder msg: 1607496033.92 epoch sec; seqNo:898 2020-12-09T06:40:33Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:40:33Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , -0.02 , 0.05 2020-12-09T06:40:33Z- waiting for 1607496034.50, time is 1607496033.92 2020-12-09T06:40:33Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496033.93 epoch sec; seqNo:1620; 4061659.86 north; 594284.45 east 2020-12-09T06:40:33Z- waiting for 1607496034.50, time is 1607496033.92 2020-12-09T06:40:33Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:34Z- AHRS_M2 msg: 1607496034.32 epoch sec; seqNo:1571 2020-12-09T06:40:34Z- AHRS_M2 msg: 1.56 phi; 0.04 theta; -0.22 psi 2020-12-09T06:40:34Z- waiting for 1607496034.50, time is 1607496033.92 2020-12-09T06:40:34Z- sync is 0.41, coherence is 2.00 2020-12-09T06:40:34Z- handleDepth()-Depth_Keller msg: 49.06 epoch sec; seqNo:1607496034328; depth 0.00 2020-12-09T06:40:34Z- waiting for 1607496034.50, time is 1607496033.92 2020-12-09T06:40:34Z- sync is 0.41, coherence is 2.00 2020-12-09T06:40:34Z- handleDvl() - RDI_Pathfinder msg: 1607496034.34 epoch sec; seqNo:899 2020-12-09T06:40:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.80 , 51.43 , 43.88 , 44.49 2020-12-09T06:40:34Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , -0.05 , -0.01 2020-12-09T06:40:34Z- waiting for 1607496034.50, time is 1607496034.34 2020-12-09T06:40:34Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496034.38 epoch sec; seqNo:1621; 4061659.88 north; 594285.67 east 2020-12-09T06:40:34Z- waiting for 1607496034.50, time is 1607496034.34 2020-12-09T06:40:34Z- sync is 0.04, coherence is 2.00 2020-12-09T06:40:34Z- AHRS_M2 msg: 1607496034.72 epoch sec; seqNo:1572 2020-12-09T06:40:34Z- AHRS_M2 msg: 1.56 phi; 0.04 theta; -0.22 psi 2020-12-09T06:40:34Z- waiting for 1607496034.50, time is 1607496034.34 2020-12-09T06:40:34Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:34Z- handleDepth()-Depth_Keller msg: 49.04 epoch sec; seqNo:1607496034725; depth 0.00 2020-12-09T06:40:34Z- waiting for 1607496034.50, time is 1607496034.34 2020-12-09T06:40:34Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496034.74 epoch sec; seqNo:1622; 4061659.88 north; 594285.67 east 2020-12-09T06:40:34Z- waiting for 1607496034.50, time is 1607496034.34 2020-12-09T06:40:34Z- sync is 0.40, coherence is 2.00 2020-12-09T06:40:35Z- AHRS_M2 msg: 1607496035.12 epoch sec; seqNo:1573 2020-12-09T06:40:35Z- AHRS_M2 msg: 1.57 phi; 0.03 theta; -0.22 psi 2020-12-09T06:40:35Z- waiting for 1607496034.50, time is 1607496034.34 2020-12-09T06:40:35Z- sync is 0.78, coherence is 2.00 2020-12-09T06:40:35Z- handleDepth()-Depth_Keller msg: 49.04 epoch sec; seqNo:1607496035136; depth 0.00 2020-12-09T06:40:35Z- waiting for 1607496034.50, time is 1607496034.34 2020-12-09T06:40:35Z- sync is 0.78, coherence is 2.00 2020-12-09T06:40:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:35Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:35Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:40:35Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:40:35Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:40:35Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:40:35Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:40:35Z- handleDvl() - RDI_Pathfinder msg: 1607496035.14 epoch sec; seqNo:900 2020-12-09T06:40:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:40:35Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , -0.05 , -0.01 2020-12-09T06:40:35Z- waiting for 1607496034.50, time is 1607496035.14 2020-12-09T06:40:35Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:35Z- LcmTrn::updateTrn() >>>> pose time 1607496035.12, meas time 1607496035.14 <<<< 2020-12-09T06:40:35Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607496035.14, ping # 0. 2020-12-09T06:40:35Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607496035.14 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:40:35Z- TerrainNav::motionUpdate() - currEstimate = (4061660, 594285.67, 49.04) 2020-12-09T06:40:35Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:40:35Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:40:35Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:40:35Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:40:35Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:40:35Z- TNavBF::mmse selected from filter -1 2020-12-09T06:40:35Z- variances([0], [2], and psi_berg) = 787.668960 833.079512 0.000000 2020-12-09T06:40:35Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:40:35Z- LcmTrn::cycle() - MLE : 4061634.38 594239.17 49.04 2020-12-09T06:40:35Z- LcmTrn::cycle() - MMSE : 4061659.88 594285.67 49.04 2020-12-09T06:40:35Z- LcmTrn::cycle() - COVAR: 787.67 833.08 55.27 0.00 2020-12-09T06:40:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496035.15 epoch sec; seqNo:1623; 4061659.88 north; 594285.67 east 2020-12-09T06:40:35Z- waiting for 1607496038.14, time is 1607496035.14 2020-12-09T06:40:35Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:35Z- AHRS_M2 msg: 1607496035.53 epoch sec; seqNo:1574 2020-12-09T06:40:35Z- AHRS_M2 msg: 1.57 phi; 0.03 theta; -0.22 psi 2020-12-09T06:40:35Z- waiting for 1607496038.14, time is 1607496035.14 2020-12-09T06:40:35Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:35Z- handleDepth()-Depth_Keller msg: 49.03 epoch sec; seqNo:1607496035534; depth 0.00 2020-12-09T06:40:35Z- waiting for 1607496038.14, time is 1607496035.14 2020-12-09T06:40:35Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:35Z- handleDvl() - RDI_Pathfinder msg: 1607496035.55 epoch sec; seqNo:901 2020-12-09T06:40:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.80 , 51.23 , 43.27 , 44.29 2020-12-09T06:40:35Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.06 , -0.05 2020-12-09T06:40:35Z- waiting for 1607496038.14, time is 1607496035.55 2020-12-09T06:40:35Z- sync is 0.03, coherence is 2.00 2020-12-09T06:40:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496035.57 epoch sec; seqNo:1624; 4061659.89 north; 594286.89 east 2020-12-09T06:40:35Z- waiting for 1607496038.14, time is 1607496035.55 2020-12-09T06:40:35Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:35Z- AHRS_M2 msg: 1607496035.93 epoch sec; seqNo:1575 2020-12-09T06:40:35Z- AHRS_M2 msg: 1.57 phi; 0.03 theta; -0.22 psi 2020-12-09T06:40:35Z- waiting for 1607496038.14, time is 1607496035.55 2020-12-09T06:40:35Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:35Z- handleDepth()-Depth_Keller msg: 49.02 epoch sec; seqNo:1607496035934; depth 0.00 2020-12-09T06:40:35Z- waiting for 1607496038.14, time is 1607496035.55 2020-12-09T06:40:35Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496035.95 epoch sec; seqNo:1625; 4061659.89 north; 594286.89 east 2020-12-09T06:40:35Z- waiting for 1607496038.14, time is 1607496035.55 2020-12-09T06:40:35Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:36Z- AHRS_M2 msg: 1607496036.35 epoch sec; seqNo:1576 2020-12-09T06:40:36Z- AHRS_M2 msg: 1.58 phi; 0.02 theta; -0.22 psi 2020-12-09T06:40:36Z- waiting for 1607496038.14, time is 1607496035.55 2020-12-09T06:40:36Z- sync is 0.80, coherence is 2.00 2020-12-09T06:40:36Z- handleDepth()-Depth_Keller msg: 49.00 epoch sec; seqNo:1607496036354; depth 0.00 2020-12-09T06:40:36Z- waiting for 1607496038.14, time is 1607496035.55 2020-12-09T06:40:36Z- sync is 0.80, coherence is 2.00 2020-12-09T06:40:36Z- handleDvl() - RDI_Pathfinder msg: 1607496036.37 epoch sec; seqNo:902 2020-12-09T06:40:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.39 , 51.02 , 43.06 , 44.49 2020-12-09T06:40:36Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.09 , -0.07 2020-12-09T06:40:36Z- waiting for 1607496038.14, time is 1607496036.37 2020-12-09T06:40:36Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496036.40 epoch sec; seqNo:1626; 4061660.28 north; 594288.11 east 2020-12-09T06:40:36Z- waiting for 1607496038.14, time is 1607496036.37 2020-12-09T06:40:36Z- sync is 0.03, coherence is 2.00 2020-12-09T06:40:36Z- AHRS_M2 msg: 1607496036.75 epoch sec; seqNo:1577 2020-12-09T06:40:36Z- AHRS_M2 msg: 1.58 phi; 0.02 theta; -0.22 psi 2020-12-09T06:40:36Z- waiting for 1607496038.14, time is 1607496036.37 2020-12-09T06:40:36Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:36Z- handleDepth()-Depth_Keller msg: 49.00 epoch sec; seqNo:1607496036758; depth 0.00 2020-12-09T06:40:36Z- waiting for 1607496038.14, time is 1607496036.37 2020-12-09T06:40:36Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496036.77 epoch sec; seqNo:1627; 4061660.28 north; 594288.11 east 2020-12-09T06:40:36Z- waiting for 1607496038.14, time is 1607496036.37 2020-12-09T06:40:36Z- sync is 0.40, coherence is 2.00 2020-12-09T06:40:37Z- AHRS_M2 msg: 1607496037.15 epoch sec; seqNo:1578 2020-12-09T06:40:37Z- AHRS_M2 msg: 1.58 phi; 0.01 theta; -0.22 psi 2020-12-09T06:40:37Z- waiting for 1607496038.14, time is 1607496036.37 2020-12-09T06:40:37Z- sync is 0.78, coherence is 2.00 2020-12-09T06:40:37Z- handleDepth()-Depth_Keller msg: 48.98 epoch sec; seqNo:1607496037163; depth 0.00 2020-12-09T06:40:37Z- waiting for 1607496038.14, time is 1607496036.37 2020-12-09T06:40:37Z- sync is 0.78, coherence is 2.00 2020-12-09T06:40:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496037.17 epoch sec; seqNo:1628; 4061660.28 north; 594288.11 east 2020-12-09T06:40:37Z- waiting for 1607496038.14, time is 1607496036.37 2020-12-09T06:40:37Z- sync is 0.80, coherence is 2.00 2020-12-09T06:40:37Z- AHRS_M2 msg: 1607496037.55 epoch sec; seqNo:1579 2020-12-09T06:40:37Z- AHRS_M2 msg: 1.58 phi; 0.01 theta; -0.22 psi 2020-12-09T06:40:37Z- waiting for 1607496038.14, time is 1607496036.37 2020-12-09T06:40:37Z- sync is 1.18, coherence is 2.00 2020-12-09T06:40:37Z- handleDepth()-Depth_Keller msg: 48.98 epoch sec; seqNo:1607496037558; depth 0.00 2020-12-09T06:40:37Z- waiting for 1607496038.14, time is 1607496036.37 2020-12-09T06:40:37Z- sync is 1.18, coherence is 2.00 2020-12-09T06:40:37Z- handleDvl() - RDI_Pathfinder msg: 1607496037.57 epoch sec; seqNo:903 2020-12-09T06:40:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.39 , 51.23 , 42.86 , 44.70 2020-12-09T06:40:37Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.09 , -0.07 2020-12-09T06:40:37Z- waiting for 1607496038.14, time is 1607496037.57 2020-12-09T06:40:37Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496037.59 epoch sec; seqNo:1629; 4061660.29 north; 594289.33 east 2020-12-09T06:40:37Z- waiting for 1607496038.14, time is 1607496037.57 2020-12-09T06:40:37Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:37Z- AHRS_M2 msg: 1607496037.96 epoch sec; seqNo:1580 2020-12-09T06:40:37Z- AHRS_M2 msg: 1.58 phi; 0.01 theta; -0.23 psi 2020-12-09T06:40:37Z- waiting for 1607496038.14, time is 1607496037.57 2020-12-09T06:40:37Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:37Z- handleDepth()-Depth_Keller msg: 48.96 epoch sec; seqNo:1607496037973; depth 0.00 2020-12-09T06:40:37Z- waiting for 1607496038.14, time is 1607496037.57 2020-12-09T06:40:37Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496037.99 epoch sec; seqNo:1630; 4061660.29 north; 594289.33 east 2020-12-09T06:40:37Z- waiting for 1607496038.14, time is 1607496037.57 2020-12-09T06:40:37Z- sync is 0.42, coherence is 2.00 2020-12-09T06:40:38Z- AHRS_M2 msg: 1607496038.36 epoch sec; seqNo:1581 2020-12-09T06:40:38Z- AHRS_M2 msg: 1.57 phi; 0.00 theta; -0.23 psi 2020-12-09T06:40:38Z- waiting for 1607496038.14, time is 1607496037.57 2020-12-09T06:40:38Z- sync is 0.79, coherence is 2.00 2020-12-09T06:40:38Z- handleDepth()-Depth_Keller msg: 48.95 epoch sec; seqNo:1607496038382; depth 0.00 2020-12-09T06:40:38Z- waiting for 1607496038.14, time is 1607496037.57 2020-12-09T06:40:38Z- sync is 0.79, coherence is 2.00 2020-12-09T06:40:38Z- handleDvl() - RDI_Pathfinder msg: 1607496038.39 epoch sec; seqNo:904 2020-12-09T06:40:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.39 , 51.23 , 42.25 , 44.90 2020-12-09T06:40:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.11 , -0.04 2020-12-09T06:40:38Z- waiting for 1607496038.14, time is 1607496038.39 2020-12-09T06:40:38Z- sync is 0.03, coherence is 2.00 2020-12-09T06:40:38Z- LcmTrn::updateTrn() >>>> pose time 1607496038.36, meas time 1607496038.39 <<<< 2020-12-09T06:40:38Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607496038.39 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:40:38Z- TerrainNav::motionUpdate() - currEstimate = (4061660, 594289.33, 48.95) 2020-12-09T06:40:38Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:40:38Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:40:38Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:40:38Z- TNavBF::mmse selected from filter -1 2020-12-09T06:40:38Z- variances([0], [2], and psi_berg) = 787.500960 833.079234 0.000000 2020-12-09T06:40:38Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:40:38Z- LcmTrn::cycle() - MLE : 4061634.79 594242.83 48.95 2020-12-09T06:40:38Z- LcmTrn::cycle() - MMSE : 4061660.29 594289.33 48.95 2020-12-09T06:40:38Z- LcmTrn::cycle() - COVAR: 787.50 833.08 55.46 0.00 2020-12-09T06:40:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496038.41 epoch sec; seqNo:1631; 4061660.29 north; 594289.33 east 2020-12-09T06:40:38Z- waiting for 1607496041.39, time is 1607496038.39 2020-12-09T06:40:38Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:38Z- handleDepth()-Depth_Keller msg: 48.94 epoch sec; seqNo:1607496038790; depth 0.00 2020-12-09T06:40:38Z- waiting for 1607496041.39, time is 1607496038.39 2020-12-09T06:40:38Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:38Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:38Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:38Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:38Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:40:38Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:40:38Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:40:38Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:40:38Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:40:38Z- handleDvl() - RDI_Pathfinder msg: 1607496038.79 epoch sec; seqNo:905 2020-12-09T06:40:38Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:40:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.11 , -0.04 2020-12-09T06:40:38Z- waiting for 1607496041.39, time is 1607496038.79 2020-12-09T06:40:38Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496038.80 epoch sec; seqNo:1632; 4061660.31 north; 594290.55 east 2020-12-09T06:40:38Z- waiting for 1607496041.39, time is 1607496038.79 2020-12-09T06:40:38Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:39Z- AHRS_M2 msg: 1607496039.17 epoch sec; seqNo:1582 2020-12-09T06:40:39Z- AHRS_M2 msg: 1.57 phi; -0.00 theta; -0.24 psi 2020-12-09T06:40:39Z- waiting for 1607496041.39, time is 1607496038.79 2020-12-09T06:40:39Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:39Z- handleDepth()-Depth_Keller msg: 48.92 epoch sec; seqNo:1607496039181; depth 0.00 2020-12-09T06:40:39Z- waiting for 1607496041.39, time is 1607496038.79 2020-12-09T06:40:39Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496039.19 epoch sec; seqNo:1633; 4061660.31 north; 594290.55 east 2020-12-09T06:40:39Z- waiting for 1607496041.39, time is 1607496038.79 2020-12-09T06:40:39Z- sync is 0.40, coherence is 2.00 2020-12-09T06:40:39Z- AHRS_M2 msg: 1607496039.57 epoch sec; seqNo:1583 2020-12-09T06:40:39Z- AHRS_M2 msg: 1.57 phi; -0.01 theta; -0.24 psi 2020-12-09T06:40:39Z- waiting for 1607496041.39, time is 1607496038.79 2020-12-09T06:40:39Z- sync is 0.78, coherence is 2.00 2020-12-09T06:40:39Z- handleDepth()-Depth_Keller msg: 48.90 epoch sec; seqNo:1607496039586; depth 0.00 2020-12-09T06:40:39Z- waiting for 1607496041.39, time is 1607496038.79 2020-12-09T06:40:39Z- sync is 0.78, coherence is 2.00 2020-12-09T06:40:39Z- handleDvl() - RDI_Pathfinder msg: 1607496039.60 epoch sec; seqNo:906 2020-12-09T06:40:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.19 , 51.84 , 41.84 , 45.10 2020-12-09T06:40:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.08 , 0.00 2020-12-09T06:40:39Z- waiting for 1607496041.39, time is 1607496039.60 2020-12-09T06:40:39Z- sync is 0.03, coherence is 2.00 2020-12-09T06:40:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496039.61 epoch sec; seqNo:1634; 4061660.31 north; 594290.55 east 2020-12-09T06:40:39Z- waiting for 1607496041.39, time is 1607496039.60 2020-12-09T06:40:39Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:39Z- AHRS_M2 msg: 1607496039.99 epoch sec; seqNo:1584 2020-12-09T06:40:39Z- AHRS_M2 msg: 1.56 phi; -0.01 theta; -0.24 psi 2020-12-09T06:40:39Z- waiting for 1607496041.39, time is 1607496039.60 2020-12-09T06:40:39Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:39Z- handleDepth()-Depth_Keller msg: 48.90 epoch sec; seqNo:1607496039999; depth 0.00 2020-12-09T06:40:39Z- waiting for 1607496041.39, time is 1607496039.60 2020-12-09T06:40:39Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:39Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:39Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:39Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:39Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:40:39Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:40:39Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:40:39Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:40:39Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:40:39Z- handleDvl() - RDI_Pathfinder msg: 1607496040.00 epoch sec; seqNo:907 2020-12-09T06:40:39Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:40:39Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.08 , 0.00 2020-12-09T06:40:39Z- waiting for 1607496041.39, time is 1607496040.00 2020-12-09T06:40:39Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496040.01 epoch sec; seqNo:1635; 4061660.69 north; 594290.54 east 2020-12-09T06:40:39Z- waiting for 1607496041.39, time is 1607496040.00 2020-12-09T06:40:39Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:40Z- AHRS_M2 msg: 1607496040.39 epoch sec; seqNo:1585 2020-12-09T06:40:40Z- AHRS_M2 msg: 1.56 phi; -0.01 theta; -0.24 psi 2020-12-09T06:40:40Z- waiting for 1607496041.39, time is 1607496040.00 2020-12-09T06:40:40Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:40Z- handleDepth()-Depth_Keller msg: 48.88 epoch sec; seqNo:1607496040394; depth 0.00 2020-12-09T06:40:40Z- waiting for 1607496041.39, time is 1607496040.00 2020-12-09T06:40:40Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:40Z- handleDvl() - RDI_Pathfinder msg: 1607496040.41 epoch sec; seqNo:908 2020-12-09T06:40:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 39.19 , 51.63 , 41.84 , 45.72 2020-12-09T06:40:40Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.08 , 0.05 2020-12-09T06:40:40Z- waiting for 1607496041.39, time is 1607496040.41 2020-12-09T06:40:40Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496040.46 epoch sec; seqNo:1636; 4061660.70 north; 594291.76 east 2020-12-09T06:40:40Z- waiting for 1607496041.39, time is 1607496040.41 2020-12-09T06:40:40Z- sync is 0.05, coherence is 2.00 2020-12-09T06:40:40Z- AHRS_M2 msg: 1607496040.79 epoch sec; seqNo:1586 2020-12-09T06:40:40Z- AHRS_M2 msg: 1.56 phi; -0.02 theta; -0.24 psi 2020-12-09T06:40:40Z- waiting for 1607496041.39, time is 1607496040.41 2020-12-09T06:40:40Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:40Z- handleDepth()-Depth_Keller msg: 48.86 epoch sec; seqNo:1607496040791; depth 0.00 2020-12-09T06:40:40Z- waiting for 1607496041.39, time is 1607496040.41 2020-12-09T06:40:40Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496040.81 epoch sec; seqNo:1637; 4061660.70 north; 594291.76 east 2020-12-09T06:40:40Z- waiting for 1607496041.39, time is 1607496040.41 2020-12-09T06:40:40Z- sync is 0.40, coherence is 2.00 2020-12-09T06:40:41Z- AHRS_M2 msg: 1607496041.19 epoch sec; seqNo:1587 2020-12-09T06:40:41Z- AHRS_M2 msg: 1.55 phi; -0.02 theta; -0.24 psi 2020-12-09T06:40:41Z- waiting for 1607496041.39, time is 1607496040.41 2020-12-09T06:40:41Z- sync is 0.78, coherence is 2.00 2020-12-09T06:40:41Z- handleDepth()-Depth_Keller msg: 48.85 epoch sec; seqNo:1607496041203; depth 0.00 2020-12-09T06:40:41Z- waiting for 1607496041.39, time is 1607496040.41 2020-12-09T06:40:41Z- sync is 0.78, coherence is 2.00 2020-12-09T06:40:41Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:41Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:41Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:41Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:40:41Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:40:41Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:40:41Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:40:41Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:40:41Z- handleDvl() - RDI_Pathfinder msg: 1607496041.21 epoch sec; seqNo:909 2020-12-09T06:40:41Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:40:41Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.08 , 0.05 2020-12-09T06:40:41Z- waiting for 1607496041.39, time is 1607496041.21 2020-12-09T06:40:41Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496041.22 epoch sec; seqNo:1638; 4061660.70 north; 594291.76 east 2020-12-09T06:40:41Z- waiting for 1607496041.39, time is 1607496041.21 2020-12-09T06:40:41Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:41Z- AHRS_M2 msg: 1607496041.59 epoch sec; seqNo:1588 2020-12-09T06:40:41Z- AHRS_M2 msg: 1.56 phi; -0.02 theta; -0.24 psi 2020-12-09T06:40:41Z- waiting for 1607496041.39, time is 1607496041.21 2020-12-09T06:40:41Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:41Z- handleDepth()-Depth_Keller msg: 48.86 epoch sec; seqNo:1607496041598; depth 0.00 2020-12-09T06:40:41Z- waiting for 1607496041.39, time is 1607496041.21 2020-12-09T06:40:41Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:41Z- handleDvl() - RDI_Pathfinder msg: 1607496041.61 epoch sec; seqNo:910 2020-12-09T06:40:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.98 , 52.04 , 41.43 , 45.92 2020-12-09T06:40:41Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.05 , 0.07 2020-12-09T06:40:41Z- waiting for 1607496041.39, time is 1607496041.61 2020-12-09T06:40:41Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:41Z- LcmTrn::updateTrn() >>>> pose time 1607496041.59, meas time 1607496041.61 <<<< 2020-12-09T06:40:41Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607496041.61 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:40:41Z- TerrainNav::motionUpdate() - currEstimate = (4061661, 594291.76, 48.86) 2020-12-09T06:40:41Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:40:41Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:40:41Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:40:41Z- TNavBF::mmse selected from filter -1 2020-12-09T06:40:41Z- variances([0], [2], and psi_berg) = 787.363774 833.079007 0.000000 2020-12-09T06:40:41Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:40:41Z- LcmTrn::cycle() - MLE : 4061635.20 594244.26 48.86 2020-12-09T06:40:41Z- LcmTrn::cycle() - MMSE : 4061660.70 594291.76 48.86 2020-12-09T06:40:41Z- LcmTrn::cycle() - COVAR: 787.36 833.08 55.59 0.00 2020-12-09T06:40:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496041.64 epoch sec; seqNo:1639; 4061660.71 north; 594292.98 east 2020-12-09T06:40:41Z- waiting for 1607496044.61, time is 1607496041.61 2020-12-09T06:40:41Z- sync is 0.03, coherence is 2.00 2020-12-09T06:40:41Z- AHRS_M2 msg: 1607496042.00 epoch sec; seqNo:1589 2020-12-09T06:40:41Z- AHRS_M2 msg: 1.55 phi; -0.03 theta; -0.24 psi 2020-12-09T06:40:41Z- waiting for 1607496044.61, time is 1607496041.61 2020-12-09T06:40:41Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:41Z- handleDepth()-Depth_Keller msg: 48.85 epoch sec; seqNo:1607496042005; depth 0.00 2020-12-09T06:40:41Z- waiting for 1607496044.61, time is 1607496041.61 2020-12-09T06:40:41Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496042.03 epoch sec; seqNo:1640; 4061660.71 north; 594292.98 east 2020-12-09T06:40:41Z- waiting for 1607496044.61, time is 1607496041.61 2020-12-09T06:40:41Z- sync is 0.42, coherence is 2.00 2020-12-09T06:40:42Z- AHRS_M2 msg: 1607496042.41 epoch sec; seqNo:1590 2020-12-09T06:40:42Z- AHRS_M2 msg: 1.55 phi; -0.03 theta; -0.24 psi 2020-12-09T06:40:42Z- waiting for 1607496044.61, time is 1607496041.61 2020-12-09T06:40:42Z- sync is 0.80, coherence is 2.00 2020-12-09T06:40:42Z- handleDepth()-Depth_Keller msg: 48.84 epoch sec; seqNo:1607496042412; depth 0.00 2020-12-09T06:40:42Z- waiting for 1607496044.61, time is 1607496041.61 2020-12-09T06:40:42Z- sync is 0.80, coherence is 2.00 2020-12-09T06:40:42Z- handleDvl() - RDI_Pathfinder msg: 1607496042.43 epoch sec; seqNo:911 2020-12-09T06:40:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.98 , 52.04 , 41.84 , 46.12 2020-12-09T06:40:42Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.04 , 0.07 2020-12-09T06:40:42Z- waiting for 1607496044.61, time is 1607496042.43 2020-12-09T06:40:42Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496042.44 epoch sec; seqNo:1641; 4061660.71 north; 594292.98 east 2020-12-09T06:40:42Z- waiting for 1607496044.61, time is 1607496042.43 2020-12-09T06:40:42Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:42Z- AHRS_M2 msg: 1607496042.81 epoch sec; seqNo:1591 2020-12-09T06:40:42Z- AHRS_M2 msg: 1.55 phi; -0.03 theta; -0.24 psi 2020-12-09T06:40:42Z- waiting for 1607496044.61, time is 1607496042.43 2020-12-09T06:40:42Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:42Z- handleDepth()-Depth_Keller msg: 48.84 epoch sec; seqNo:1607496042820; depth 0.00 2020-12-09T06:40:42Z- waiting for 1607496044.61, time is 1607496042.43 2020-12-09T06:40:42Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496042.83 epoch sec; seqNo:1642; 4061660.73 north; 594294.20 east 2020-12-09T06:40:42Z- waiting for 1607496044.61, time is 1607496042.43 2020-12-09T06:40:42Z- sync is 0.40, coherence is 2.00 2020-12-09T06:40:43Z- AHRS_M2 msg: 1607496043.22 epoch sec; seqNo:1592 2020-12-09T06:40:43Z- AHRS_M2 msg: 1.55 phi; -0.03 theta; -0.24 psi 2020-12-09T06:40:43Z- waiting for 1607496044.61, time is 1607496042.43 2020-12-09T06:40:43Z- sync is 0.79, coherence is 2.00 2020-12-09T06:40:43Z- handleDepth()-Depth_Keller msg: 48.84 epoch sec; seqNo:1607496043222; depth 0.00 2020-12-09T06:40:43Z- waiting for 1607496044.61, time is 1607496042.43 2020-12-09T06:40:43Z- sync is 0.79, coherence is 2.00 2020-12-09T06:40:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496043.23 epoch sec; seqNo:1643; 4061660.73 north; 594294.20 east 2020-12-09T06:40:43Z- waiting for 1607496044.61, time is 1607496042.43 2020-12-09T06:40:43Z- sync is 0.80, coherence is 2.00 2020-12-09T06:40:43Z- AHRS_M2 msg: 1607496043.61 epoch sec; seqNo:1593 2020-12-09T06:40:43Z- AHRS_M2 msg: 1.55 phi; -0.03 theta; -0.24 psi 2020-12-09T06:40:43Z- waiting for 1607496044.61, time is 1607496042.43 2020-12-09T06:40:43Z- sync is 1.19, coherence is 2.00 2020-12-09T06:40:43Z- handleDepth()-Depth_Keller msg: 48.83 epoch sec; seqNo:1607496043619; depth 0.00 2020-12-09T06:40:43Z- waiting for 1607496044.61, time is 1607496042.43 2020-12-09T06:40:43Z- sync is 1.19, coherence is 2.00 2020-12-09T06:40:43Z- handleDvl() - RDI_Pathfinder msg: 1607496043.64 epoch sec; seqNo:912 2020-12-09T06:40:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.99 , 51.44 , 41.84 , 45.92 2020-12-09T06:40:43Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.02 , 0.04 2020-12-09T06:40:43Z- waiting for 1607496044.61, time is 1607496043.64 2020-12-09T06:40:43Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496043.65 epoch sec; seqNo:1644; 4061660.73 north; 594294.20 east 2020-12-09T06:40:43Z- waiting for 1607496044.61, time is 1607496043.64 2020-12-09T06:40:43Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:43Z- AHRS_M2 msg: 1607496044.02 epoch sec; seqNo:1594 2020-12-09T06:40:43Z- AHRS_M2 msg: 1.55 phi; -0.04 theta; -0.24 psi 2020-12-09T06:40:43Z- waiting for 1607496044.61, time is 1607496043.64 2020-12-09T06:40:43Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:43Z- handleDepth()-Depth_Keller msg: 48.85 epoch sec; seqNo:1607496044026; depth 0.00 2020-12-09T06:40:43Z- waiting for 1607496044.61, time is 1607496043.64 2020-12-09T06:40:43Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496044.06 epoch sec; seqNo:1645; 4061660.74 north; 594295.42 east 2020-12-09T06:40:43Z- waiting for 1607496044.61, time is 1607496043.64 2020-12-09T06:40:43Z- sync is 0.42, coherence is 2.00 2020-12-09T06:40:44Z- AHRS_M2 msg: 1607496044.43 epoch sec; seqNo:1595 2020-12-09T06:40:44Z- AHRS_M2 msg: 1.55 phi; -0.04 theta; -0.24 psi 2020-12-09T06:40:44Z- waiting for 1607496044.61, time is 1607496043.64 2020-12-09T06:40:44Z- sync is 0.79, coherence is 2.00 2020-12-09T06:40:44Z- handleDepth()-Depth_Keller msg: 48.84 epoch sec; seqNo:1607496044432; depth 0.00 2020-12-09T06:40:44Z- waiting for 1607496044.61, time is 1607496043.64 2020-12-09T06:40:44Z- sync is 0.79, coherence is 2.00 2020-12-09T06:40:44Z- handleDvl() - RDI_Pathfinder msg: 1607496044.45 epoch sec; seqNo:913 2020-12-09T06:40:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.99 , 51.84 , 41.84 , 45.92 2020-12-09T06:40:44Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , -0.02 , 0.01 2020-12-09T06:40:44Z- waiting for 1607496044.61, time is 1607496044.45 2020-12-09T06:40:44Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496044.46 epoch sec; seqNo:1646; 4061660.74 north; 594295.42 east 2020-12-09T06:40:44Z- waiting for 1607496044.61, time is 1607496044.45 2020-12-09T06:40:44Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:44Z- AHRS_M2 msg: 1607496044.83 epoch sec; seqNo:1596 2020-12-09T06:40:44Z- AHRS_M2 msg: 1.55 phi; -0.04 theta; -0.24 psi 2020-12-09T06:40:44Z- waiting for 1607496044.61, time is 1607496044.45 2020-12-09T06:40:44Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:44Z- handleDepth()-Depth_Keller msg: 48.85 epoch sec; seqNo:1607496044830; depth 0.00 2020-12-09T06:40:44Z- waiting for 1607496044.61, time is 1607496044.45 2020-12-09T06:40:44Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:44Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:44Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:44Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:44Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:40:44Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:40:44Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:40:44Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:40:44Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:40:44Z- handleDvl() - RDI_Pathfinder msg: 1607496044.83 epoch sec; seqNo:914 2020-12-09T06:40:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:40:44Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , -0.02 , 0.01 2020-12-09T06:40:44Z- waiting for 1607496044.61, time is 1607496044.83 2020-12-09T06:40:44Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:44Z- LcmTrn::updateTrn() >>>> pose time 1607496044.83, meas time 1607496044.83 <<<< 2020-12-09T06:40:44Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607496044.83, ping # 0. 2020-12-09T06:40:44Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607496044.83 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:40:44Z- TerrainNav::motionUpdate() - currEstimate = (4061661, 594295.42, 48.85) 2020-12-09T06:40:44Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:40:44Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:40:44Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:40:44Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:40:44Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:40:44Z- TNavBF::mmse selected from filter -1 2020-12-09T06:40:44Z- variances([0], [2], and psi_berg) = 787.197180 833.078733 0.000000 2020-12-09T06:40:44Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:40:44Z- LcmTrn::cycle() - MLE : 4061635.24 594247.92 48.85 2020-12-09T06:40:44Z- LcmTrn::cycle() - MMSE : 4061660.74 594295.42 48.85 2020-12-09T06:40:44Z- LcmTrn::cycle() - COVAR: 787.20 833.08 55.77 0.00 2020-12-09T06:40:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496044.85 epoch sec; seqNo:1647; 4061660.75 north; 594296.64 east 2020-12-09T06:40:44Z- waiting for 1607496047.83, time is 1607496044.83 2020-12-09T06:40:44Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:45Z- AHRS_M2 msg: 1607496045.23 epoch sec; seqNo:1597 2020-12-09T06:40:45Z- AHRS_M2 msg: 1.55 phi; -0.04 theta; -0.24 psi 2020-12-09T06:40:45Z- waiting for 1607496047.83, time is 1607496044.83 2020-12-09T06:40:45Z- sync is 0.40, coherence is 2.00 2020-12-09T06:40:45Z- handleDepth()-Depth_Keller msg: 48.86 epoch sec; seqNo:1607496045234; depth 0.00 2020-12-09T06:40:45Z- waiting for 1607496047.83, time is 1607496044.83 2020-12-09T06:40:45Z- sync is 0.40, coherence is 2.00 2020-12-09T06:40:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496045.24 epoch sec; seqNo:1648; 4061660.75 north; 594296.64 east 2020-12-09T06:40:45Z- waiting for 1607496047.83, time is 1607496044.83 2020-12-09T06:40:45Z- sync is 0.41, coherence is 2.00 2020-12-09T06:40:45Z- AHRS_M2 msg: 1607496045.63 epoch sec; seqNo:1598 2020-12-09T06:40:45Z- AHRS_M2 msg: 1.56 phi; -0.04 theta; -0.24 psi 2020-12-09T06:40:45Z- waiting for 1607496047.83, time is 1607496044.83 2020-12-09T06:40:45Z- sync is 0.80, coherence is 2.00 2020-12-09T06:40:45Z- handleDepth()-Depth_Keller msg: 48.86 epoch sec; seqNo:1607496045646; depth 0.00 2020-12-09T06:40:45Z- waiting for 1607496047.83, time is 1607496044.83 2020-12-09T06:40:45Z- sync is 0.80, coherence is 2.00 2020-12-09T06:40:45Z- handleDvl() - RDI_Pathfinder msg: 1607496045.66 epoch sec; seqNo:915 2020-12-09T06:40:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.98 , 51.43 , 41.43 , 46.12 2020-12-09T06:40:45Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.02 , -0.04 2020-12-09T06:40:45Z- waiting for 1607496047.83, time is 1607496045.66 2020-12-09T06:40:45Z- sync is 0.03, coherence is 2.00 2020-12-09T06:40:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496045.67 epoch sec; seqNo:1649; 4061660.75 north; 594296.64 east 2020-12-09T06:40:45Z- waiting for 1607496047.83, time is 1607496045.66 2020-12-09T06:40:45Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:45Z- AHRS_M2 msg: 1607496046.04 epoch sec; seqNo:1599 2020-12-09T06:40:45Z- AHRS_M2 msg: 1.56 phi; -0.05 theta; -0.24 psi 2020-12-09T06:40:45Z- waiting for 1607496047.83, time is 1607496045.66 2020-12-09T06:40:45Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:45Z- handleDepth()-Depth_Keller msg: 48.89 epoch sec; seqNo:1607496046047; depth 0.00 2020-12-09T06:40:45Z- waiting for 1607496047.83, time is 1607496045.66 2020-12-09T06:40:45Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:45Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:45Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:45Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:45Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:40:45Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:40:45Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:40:45Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:40:45Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:40:45Z- handleDvl() - RDI_Pathfinder msg: 1607496046.05 epoch sec; seqNo:916 2020-12-09T06:40:45Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:40:45Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.02 , -0.04 2020-12-09T06:40:45Z- waiting for 1607496047.83, time is 1607496046.05 2020-12-09T06:40:45Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496046.08 epoch sec; seqNo:1650; 4061660.77 north; 594297.86 east 2020-12-09T06:40:46Z- waiting for 1607496047.83, time is 1607496046.05 2020-12-09T06:40:46Z- sync is 0.03, coherence is 2.00 2020-12-09T06:40:46Z- AHRS_M2 msg: 1607496046.44 epoch sec; seqNo:1600 2020-12-09T06:40:46Z- AHRS_M2 msg: 1.56 phi; -0.05 theta; -0.24 psi 2020-12-09T06:40:46Z- waiting for 1607496047.83, time is 1607496046.05 2020-12-09T06:40:46Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:46Z- handleDepth()-Depth_Keller msg: 48.90 epoch sec; seqNo:1607496046446; depth 0.00 2020-12-09T06:40:46Z- waiting for 1607496047.83, time is 1607496046.05 2020-12-09T06:40:46Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:46Z- handleDvl() - RDI_Pathfinder msg: 1607496046.46 epoch sec; seqNo:917 2020-12-09T06:40:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.57 , 51.84 , 41.23 , 46.33 2020-12-09T06:40:46Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.05 , -0.06 2020-12-09T06:40:46Z- waiting for 1607496047.83, time is 1607496046.46 2020-12-09T06:40:46Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496046.49 epoch sec; seqNo:1651; 4061660.77 north; 594297.86 east 2020-12-09T06:40:46Z- waiting for 1607496047.83, time is 1607496046.46 2020-12-09T06:40:46Z- sync is 0.04, coherence is 2.00 2020-12-09T06:40:46Z- AHRS_M2 msg: 1607496046.85 epoch sec; seqNo:1601 2020-12-09T06:40:46Z- AHRS_M2 msg: 1.56 phi; -0.05 theta; -0.24 psi 2020-12-09T06:40:46Z- waiting for 1607496047.83, time is 1607496046.46 2020-12-09T06:40:46Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:46Z- handleDepth()-Depth_Keller msg: 48.93 epoch sec; seqNo:1607496046851; depth 0.00 2020-12-09T06:40:46Z- waiting for 1607496047.83, time is 1607496046.46 2020-12-09T06:40:46Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496046.86 epoch sec; seqNo:1652; 4061660.77 north; 594297.86 east 2020-12-09T06:40:46Z- waiting for 1607496047.83, time is 1607496046.46 2020-12-09T06:40:46Z- sync is 0.40, coherence is 2.00 2020-12-09T06:40:47Z- AHRS_M2 msg: 1607496047.25 epoch sec; seqNo:1602 2020-12-09T06:40:47Z- AHRS_M2 msg: 1.56 phi; -0.05 theta; -0.24 psi 2020-12-09T06:40:47Z- waiting for 1607496047.83, time is 1607496046.46 2020-12-09T06:40:47Z- sync is 0.79, coherence is 2.00 2020-12-09T06:40:47Z- handleDepth()-Depth_Keller msg: 48.91 epoch sec; seqNo:1607496047257; depth 0.00 2020-12-09T06:40:47Z- waiting for 1607496047.83, time is 1607496046.46 2020-12-09T06:40:47Z- sync is 0.79, coherence is 2.00 2020-12-09T06:40:47Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:47Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:47Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:47Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:40:47Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:40:47Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:40:47Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:40:47Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:40:47Z- handleDvl() - RDI_Pathfinder msg: 1607496047.26 epoch sec; seqNo:918 2020-12-09T06:40:47Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:40:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.05 , -0.06 2020-12-09T06:40:47Z- waiting for 1607496047.83, time is 1607496047.26 2020-12-09T06:40:47Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496047.30 epoch sec; seqNo:1653; 4061661.16 north; 594299.08 east 2020-12-09T06:40:47Z- waiting for 1607496047.83, time is 1607496047.26 2020-12-09T06:40:47Z- sync is 0.04, coherence is 2.00 2020-12-09T06:40:47Z- AHRS_M2 msg: 1607496047.65 epoch sec; seqNo:1603 2020-12-09T06:40:47Z- AHRS_M2 msg: 1.55 phi; -0.06 theta; -0.25 psi 2020-12-09T06:40:47Z- waiting for 1607496047.83, time is 1607496047.26 2020-12-09T06:40:47Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:47Z- handleDepth()-Depth_Keller msg: 48.95 epoch sec; seqNo:1607496047662; depth 0.00 2020-12-09T06:40:47Z- waiting for 1607496047.83, time is 1607496047.26 2020-12-09T06:40:47Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:47Z- handleDvl() - RDI_Pathfinder msg: 1607496047.67 epoch sec; seqNo:919 2020-12-09T06:40:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 38.17 , 51.84 , 41.23 , 46.53 2020-12-09T06:40:47Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.07 , -0.07 2020-12-09T06:40:47Z- waiting for 1607496047.83, time is 1607496047.67 2020-12-09T06:40:47Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496047.70 epoch sec; seqNo:1654; 4061661.16 north; 594299.08 east 2020-12-09T06:40:47Z- waiting for 1607496047.83, time is 1607496047.67 2020-12-09T06:40:47Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:47Z- AHRS_M2 msg: 1607496048.06 epoch sec; seqNo:1604 2020-12-09T06:40:47Z- AHRS_M2 msg: 1.55 phi; -0.06 theta; -0.25 psi 2020-12-09T06:40:47Z- waiting for 1607496047.83, time is 1607496047.67 2020-12-09T06:40:47Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:47Z- handleDepth()-Depth_Keller msg: 48.95 epoch sec; seqNo:1607496048066; depth 0.00 2020-12-09T06:40:47Z- waiting for 1607496047.83, time is 1607496047.67 2020-12-09T06:40:47Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496048.08 epoch sec; seqNo:1655; 4061661.16 north; 594299.08 east 2020-12-09T06:40:48Z- waiting for 1607496047.83, time is 1607496047.67 2020-12-09T06:40:48Z- sync is 0.40, coherence is 2.00 2020-12-09T06:40:48Z- AHRS_M2 msg: 1607496048.46 epoch sec; seqNo:1605 2020-12-09T06:40:48Z- AHRS_M2 msg: 1.54 phi; -0.06 theta; -0.26 psi 2020-12-09T06:40:48Z- waiting for 1607496047.83, time is 1607496047.67 2020-12-09T06:40:48Z- sync is 0.79, coherence is 2.00 2020-12-09T06:40:48Z- handleDepth()-Depth_Keller msg: 48.99 epoch sec; seqNo:1607496048471; depth 0.00 2020-12-09T06:40:48Z- waiting for 1607496047.83, time is 1607496047.67 2020-12-09T06:40:48Z- sync is 0.79, coherence is 2.00 2020-12-09T06:40:48Z- handleDvl() - RDI_Pathfinder msg: 1607496048.49 epoch sec; seqNo:920 2020-12-09T06:40:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.76 , 52.45 , 41.43 , 46.94 2020-12-09T06:40:48Z- handleDvl() - RDI_Pathfinder msg: velocities 0.86 , -0.09 , -0.05 2020-12-09T06:40:48Z- waiting for 1607496047.83, time is 1607496048.49 2020-12-09T06:40:48Z- sync is 0.03, coherence is 2.00 2020-12-09T06:40:48Z- LcmTrn::updateTrn() >>>> pose time 1607496048.46, meas time 1607496048.49 <<<< 2020-12-09T06:40:48Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607496048.49 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:40:48Z- TerrainNav::motionUpdate() - currEstimate = (4061661, 594299.08, 48.99) 2020-12-09T06:40:48Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:40:48Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:40:48Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:40:48Z- TNavBF::mmse selected from filter -1 2020-12-09T06:40:48Z- variances([0], [2], and psi_berg) = 787.030661 833.078460 0.000000 2020-12-09T06:40:48Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:40:48Z- LcmTrn::cycle() - MLE : 4061635.66 594251.58 48.99 2020-12-09T06:40:48Z- LcmTrn::cycle() - MMSE : 4061661.16 594299.08 48.99 2020-12-09T06:40:48Z- LcmTrn::cycle() - COVAR: 787.03 833.08 55.96 0.00 2020-12-09T06:40:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496048.50 epoch sec; seqNo:1656; 4061661.16 north; 594299.08 east 2020-12-09T06:40:48Z- waiting for 1607496051.49, time is 1607496048.49 2020-12-09T06:40:48Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:48Z- AHRS_M2 msg: 1607496048.87 epoch sec; seqNo:1606 2020-12-09T06:40:48Z- AHRS_M2 msg: 1.54 phi; -0.06 theta; -0.26 psi 2020-12-09T06:40:48Z- waiting for 1607496051.49, time is 1607496048.49 2020-12-09T06:40:48Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:48Z- handleDepth()-Depth_Keller msg: 49.01 epoch sec; seqNo:1607496048870; depth 0.00 2020-12-09T06:40:48Z- waiting for 1607496051.49, time is 1607496048.49 2020-12-09T06:40:48Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496048.89 epoch sec; seqNo:1657; 4061661.17 north; 594300.30 east 2020-12-09T06:40:48Z- waiting for 1607496051.49, time is 1607496048.49 2020-12-09T06:40:48Z- sync is 0.41, coherence is 2.00 2020-12-09T06:40:49Z- AHRS_M2 msg: 1607496049.27 epoch sec; seqNo:1607 2020-12-09T06:40:49Z- AHRS_M2 msg: 1.53 phi; -0.07 theta; -0.26 psi 2020-12-09T06:40:49Z- waiting for 1607496051.49, time is 1607496048.49 2020-12-09T06:40:49Z- sync is 0.79, coherence is 2.00 2020-12-09T06:40:49Z- handleDepth()-Depth_Keller msg: 49.04 epoch sec; seqNo:1607496049284; depth 0.00 2020-12-09T06:40:49Z- waiting for 1607496051.49, time is 1607496048.49 2020-12-09T06:40:49Z- sync is 0.79, coherence is 2.00 2020-12-09T06:40:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496049.32 epoch sec; seqNo:1658; 4061661.17 north; 594300.30 east 2020-12-09T06:40:49Z- waiting for 1607496051.49, time is 1607496048.49 2020-12-09T06:40:49Z- sync is 0.83, coherence is 2.00 2020-12-09T06:40:49Z- AHRS_M2 msg: 1607496049.67 epoch sec; seqNo:1608 2020-12-09T06:40:49Z- AHRS_M2 msg: 1.53 phi; -0.07 theta; -0.27 psi 2020-12-09T06:40:49Z- waiting for 1607496051.49, time is 1607496048.49 2020-12-09T06:40:49Z- sync is 1.19, coherence is 2.00 2020-12-09T06:40:49Z- handleDepth()-Depth_Keller msg: 49.08 epoch sec; seqNo:1607496049682; depth 0.00 2020-12-09T06:40:49Z- waiting for 1607496051.49, time is 1607496048.49 2020-12-09T06:40:49Z- sync is 1.19, coherence is 2.00 2020-12-09T06:40:49Z- handleDvl() - RDI_Pathfinder msg: 1607496049.70 epoch sec; seqNo:921 2020-12-09T06:40:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.76 , 52.45 , 41.02 , 46.74 2020-12-09T06:40:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.11 , -0.00 2020-12-09T06:40:49Z- waiting for 1607496051.49, time is 1607496049.70 2020-12-09T06:40:49Z- sync is 0.03, coherence is 2.00 2020-12-09T06:40:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496049.71 epoch sec; seqNo:1659; 4061661.17 north; 594300.30 east 2020-12-09T06:40:49Z- waiting for 1607496051.49, time is 1607496049.70 2020-12-09T06:40:49Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:50Z- AHRS_M2 msg: 1607496050.08 epoch sec; seqNo:1609 2020-12-09T06:40:50Z- AHRS_M2 msg: 1.52 phi; -0.07 theta; -0.27 psi 2020-12-09T06:40:50Z- waiting for 1607496051.49, time is 1607496049.70 2020-12-09T06:40:50Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:50Z- handleDepth()-Depth_Keller msg: 49.11 epoch sec; seqNo:1607496050083; depth 0.00 2020-12-09T06:40:50Z- waiting for 1607496051.49, time is 1607496049.70 2020-12-09T06:40:50Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496050.11 epoch sec; seqNo:1660; 4061661.19 north; 594301.52 east 2020-12-09T06:40:50Z- waiting for 1607496051.49, time is 1607496049.70 2020-12-09T06:40:50Z- sync is 0.41, coherence is 2.00 2020-12-09T06:40:50Z- AHRS_M2 msg: 1607496050.48 epoch sec; seqNo:1610 2020-12-09T06:40:50Z- AHRS_M2 msg: 1.51 phi; -0.07 theta; -0.27 psi 2020-12-09T06:40:50Z- waiting for 1607496051.49, time is 1607496049.70 2020-12-09T06:40:50Z- sync is 0.78, coherence is 2.00 2020-12-09T06:40:50Z- handleDepth()-Depth_Keller msg: 49.15 epoch sec; seqNo:1607496050490; depth 0.00 2020-12-09T06:40:50Z- waiting for 1607496051.49, time is 1607496049.70 2020-12-09T06:40:50Z- sync is 0.78, coherence is 2.00 2020-12-09T06:40:50Z- handleDvl() - RDI_Pathfinder msg: 1607496050.50 epoch sec; seqNo:922 2020-12-09T06:40:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.55 , 52.25 , 41.02 , 47.35 2020-12-09T06:40:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.11 , 0.05 2020-12-09T06:40:50Z- waiting for 1607496051.49, time is 1607496050.50 2020-12-09T06:40:50Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496050.53 epoch sec; seqNo:1661; 4061661.57 north; 594301.52 east 2020-12-09T06:40:50Z- waiting for 1607496051.49, time is 1607496050.50 2020-12-09T06:40:50Z- sync is 0.03, coherence is 2.00 2020-12-09T06:40:50Z- AHRS_M2 msg: 1607496050.89 epoch sec; seqNo:1611 2020-12-09T06:40:50Z- AHRS_M2 msg: 1.51 phi; -0.08 theta; -0.27 psi 2020-12-09T06:40:50Z- waiting for 1607496051.49, time is 1607496050.50 2020-12-09T06:40:50Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:50Z- handleDepth()-Depth_Keller msg: 49.18 epoch sec; seqNo:1607496050893; depth 0.00 2020-12-09T06:40:50Z- waiting for 1607496051.49, time is 1607496050.50 2020-12-09T06:40:50Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:50Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:50Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:50Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:50Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:40:50Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:40:50Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:40:50Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:40:50Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:40:50Z- handleDvl() - RDI_Pathfinder msg: 1607496050.89 epoch sec; seqNo:923 2020-12-09T06:40:50Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:40:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.11 , 0.05 2020-12-09T06:40:50Z- waiting for 1607496051.49, time is 1607496050.89 2020-12-09T06:40:50Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496050.91 epoch sec; seqNo:1662; 4061661.57 north; 594301.52 east 2020-12-09T06:40:50Z- waiting for 1607496051.49, time is 1607496050.89 2020-12-09T06:40:50Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:51Z- AHRS_M2 msg: 1607496051.31 epoch sec; seqNo:1612 2020-12-09T06:40:51Z- AHRS_M2 msg: 1.50 phi; -0.08 theta; -0.27 psi 2020-12-09T06:40:51Z- waiting for 1607496051.49, time is 1607496050.89 2020-12-09T06:40:51Z- sync is 0.42, coherence is 2.00 2020-12-09T06:40:51Z- handleDepth()-Depth_Keller msg: 49.21 epoch sec; seqNo:1607496051317; depth 0.00 2020-12-09T06:40:51Z- waiting for 1607496051.49, time is 1607496050.89 2020-12-09T06:40:51Z- sync is 0.42, coherence is 2.00 2020-12-09T06:40:51Z- handleDvl() - RDI_Pathfinder msg: 1607496051.33 epoch sec; seqNo:924 2020-12-09T06:40:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.55 , 52.45 , 40.61 , 47.55 2020-12-09T06:40:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.12 , 0.11 2020-12-09T06:40:51Z- waiting for 1607496051.49, time is 1607496051.33 2020-12-09T06:40:51Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496051.37 epoch sec; seqNo:1663; 4061661.57 north; 594301.52 east 2020-12-09T06:40:51Z- waiting for 1607496051.49, time is 1607496051.33 2020-12-09T06:40:51Z- sync is 0.03, coherence is 2.00 2020-12-09T06:40:51Z- AHRS_M2 msg: 1607496051.69 epoch sec; seqNo:1613 2020-12-09T06:40:51Z- AHRS_M2 msg: 1.49 phi; -0.08 theta; -0.27 psi 2020-12-09T06:40:51Z- waiting for 1607496051.49, time is 1607496051.33 2020-12-09T06:40:51Z- sync is 0.36, coherence is 2.00 2020-12-09T06:40:51Z- handleDepth()-Depth_Keller msg: 49.27 epoch sec; seqNo:1607496051698; depth 0.00 2020-12-09T06:40:51Z- waiting for 1607496051.49, time is 1607496051.33 2020-12-09T06:40:51Z- sync is 0.36, coherence is 2.00 2020-12-09T06:40:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496051.71 epoch sec; seqNo:1664; 4061661.58 north; 594302.74 east 2020-12-09T06:40:51Z- waiting for 1607496051.49, time is 1607496051.33 2020-12-09T06:40:51Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:52Z- AHRS_M2 msg: 1607496052.10 epoch sec; seqNo:1614 2020-12-09T06:40:52Z- AHRS_M2 msg: 1.48 phi; -0.08 theta; -0.28 psi 2020-12-09T06:40:52Z- waiting for 1607496051.49, time is 1607496051.33 2020-12-09T06:40:52Z- sync is 0.76, coherence is 2.00 2020-12-09T06:40:52Z- handleDepth()-Depth_Keller msg: 49.30 epoch sec; seqNo:1607496052106; depth 0.00 2020-12-09T06:40:52Z- waiting for 1607496051.49, time is 1607496051.33 2020-12-09T06:40:52Z- sync is 0.76, coherence is 2.00 2020-12-09T06:40:52Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:52Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:52Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:52Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:40:52Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:40:52Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:40:52Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:40:52Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:40:52Z- handleDvl() - RDI_Pathfinder msg: 1607496052.11 epoch sec; seqNo:925 2020-12-09T06:40:52Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:40:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.12 , 0.11 2020-12-09T06:40:52Z- waiting for 1607496051.49, time is 1607496052.11 2020-12-09T06:40:52Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:52Z- LcmTrn::updateTrn() >>>> pose time 1607496052.10, meas time 1607496052.11 <<<< 2020-12-09T06:40:52Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607496052.11, ping # 0. 2020-12-09T06:40:52Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607496052.11 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:40:52Z- TerrainNav::motionUpdate() - currEstimate = (4061662, 594302.74, 49.30) 2020-12-09T06:40:52Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:40:52Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:40:52Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:40:52Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:40:52Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:40:52Z- TNavBF::mmse selected from filter -1 2020-12-09T06:40:52Z- variances([0], [2], and psi_berg) = 786.864661 833.078189 0.000000 2020-12-09T06:40:52Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:40:52Z- LcmTrn::cycle() - MLE : 4061636.08 594255.24 49.30 2020-12-09T06:40:52Z- LcmTrn::cycle() - MMSE : 4061661.58 594302.74 49.30 2020-12-09T06:40:52Z- LcmTrn::cycle() - COVAR: 786.86 833.08 56.15 0.00 2020-12-09T06:40:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496052.12 epoch sec; seqNo:1665; 4061661.58 north; 594302.74 east 2020-12-09T06:40:52Z- waiting for 1607496055.11, time is 1607496052.11 2020-12-09T06:40:52Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:52Z- AHRS_M2 msg: 1607496052.50 epoch sec; seqNo:1615 2020-12-09T06:40:52Z- AHRS_M2 msg: 1.48 phi; -0.08 theta; -0.28 psi 2020-12-09T06:40:52Z- waiting for 1607496055.11, time is 1607496052.11 2020-12-09T06:40:52Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:52Z- handleDepth()-Depth_Keller msg: 49.32 epoch sec; seqNo:1607496052508; depth 0.00 2020-12-09T06:40:52Z- waiting for 1607496055.11, time is 1607496052.11 2020-12-09T06:40:52Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:52Z- handleDvl() - RDI_Pathfinder msg: 1607496052.52 epoch sec; seqNo:926 2020-12-09T06:40:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.76 , 52.25 , 40.61 , 47.76 2020-12-09T06:40:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.92 , -0.08 , 0.16 2020-12-09T06:40:52Z- waiting for 1607496055.11, time is 1607496052.52 2020-12-09T06:40:52Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496052.53 epoch sec; seqNo:1666; 4061661.58 north; 594302.74 east 2020-12-09T06:40:52Z- waiting for 1607496055.11, time is 1607496052.52 2020-12-09T06:40:52Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:52Z- AHRS_M2 msg: 1607496052.91 epoch sec; seqNo:1616 2020-12-09T06:40:52Z- AHRS_M2 msg: 1.47 phi; -0.08 theta; -0.28 psi 2020-12-09T06:40:52Z- waiting for 1607496055.11, time is 1607496052.52 2020-12-09T06:40:52Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:52Z- handleDepth()-Depth_Keller msg: 49.38 epoch sec; seqNo:1607496052910; depth 0.00 2020-12-09T06:40:52Z- waiting for 1607496055.11, time is 1607496052.52 2020-12-09T06:40:52Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496052.97 epoch sec; seqNo:1667; 4061661.96 north; 594302.73 east 2020-12-09T06:40:52Z- waiting for 1607496055.11, time is 1607496052.52 2020-12-09T06:40:52Z- sync is 0.45, coherence is 2.00 2020-12-09T06:40:53Z- AHRS_M2 msg: 1607496053.32 epoch sec; seqNo:1617 2020-12-09T06:40:53Z- AHRS_M2 msg: 1.46 phi; -0.08 theta; -0.28 psi 2020-12-09T06:40:53Z- waiting for 1607496055.11, time is 1607496052.52 2020-12-09T06:40:53Z- sync is 0.80, coherence is 2.00 2020-12-09T06:40:53Z- handleDepth()-Depth_Keller msg: 49.43 epoch sec; seqNo:1607496053323; depth 0.00 2020-12-09T06:40:53Z- waiting for 1607496055.11, time is 1607496052.52 2020-12-09T06:40:53Z- sync is 0.80, coherence is 2.00 2020-12-09T06:40:53Z- handleDvl() - RDI_Pathfinder msg: 1607496053.34 epoch sec; seqNo:927 2020-12-09T06:40:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.76 , 52.66 , 40.61 , 47.96 2020-12-09T06:40:53Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.07 , 0.18 2020-12-09T06:40:53Z- waiting for 1607496055.11, time is 1607496053.34 2020-12-09T06:40:53Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496053.36 epoch sec; seqNo:1668; 4061661.97 north; 594303.95 east 2020-12-09T06:40:53Z- waiting for 1607496055.11, time is 1607496053.34 2020-12-09T06:40:53Z- sync is 0.03, coherence is 2.00 2020-12-09T06:40:53Z- AHRS_M2 msg: 1607496053.71 epoch sec; seqNo:1618 2020-12-09T06:40:53Z- AHRS_M2 msg: 1.46 phi; -0.08 theta; -0.27 psi 2020-12-09T06:40:53Z- waiting for 1607496055.11, time is 1607496053.34 2020-12-09T06:40:53Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:53Z- handleDepth()-Depth_Keller msg: 49.48 epoch sec; seqNo:1607496053719; depth 0.00 2020-12-09T06:40:53Z- waiting for 1607496055.11, time is 1607496053.34 2020-12-09T06:40:53Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496053.73 epoch sec; seqNo:1669; 4061661.97 north; 594303.95 east 2020-12-09T06:40:53Z- waiting for 1607496055.11, time is 1607496053.34 2020-12-09T06:40:53Z- sync is 0.40, coherence is 2.00 2020-12-09T06:40:54Z- AHRS_M2 msg: 1607496054.12 epoch sec; seqNo:1619 2020-12-09T06:40:54Z- AHRS_M2 msg: 1.45 phi; -0.08 theta; -0.27 psi 2020-12-09T06:40:54Z- waiting for 1607496055.11, time is 1607496053.34 2020-12-09T06:40:54Z- sync is 0.78, coherence is 2.00 2020-12-09T06:40:54Z- handleDepth()-Depth_Keller msg: 49.51 epoch sec; seqNo:1607496054128; depth 0.00 2020-12-09T06:40:54Z- waiting for 1607496055.11, time is 1607496053.34 2020-12-09T06:40:54Z- sync is 0.78, coherence is 2.00 2020-12-09T06:40:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496054.14 epoch sec; seqNo:1670; 4061661.97 north; 594303.95 east 2020-12-09T06:40:54Z- waiting for 1607496055.11, time is 1607496053.34 2020-12-09T06:40:54Z- sync is 0.80, coherence is 2.00 2020-12-09T06:40:54Z- AHRS_M2 msg: 1607496054.52 epoch sec; seqNo:1620 2020-12-09T06:40:54Z- AHRS_M2 msg: 1.45 phi; -0.09 theta; -0.27 psi 2020-12-09T06:40:54Z- waiting for 1607496055.11, time is 1607496053.34 2020-12-09T06:40:54Z- sync is 1.19, coherence is 2.00 2020-12-09T06:40:54Z- handleDepth()-Depth_Keller msg: 49.56 epoch sec; seqNo:1607496054527; depth 0.00 2020-12-09T06:40:54Z- waiting for 1607496055.11, time is 1607496053.34 2020-12-09T06:40:54Z- sync is 1.19, coherence is 2.00 2020-12-09T06:40:54Z- handleDvl() - RDI_Pathfinder msg: 1607496054.55 epoch sec; seqNo:928 2020-12-09T06:40:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.76 , 52.25 , 40.21 , 48.17 2020-12-09T06:40:54Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , -0.03 , 0.17 2020-12-09T06:40:54Z- waiting for 1607496055.11, time is 1607496054.55 2020-12-09T06:40:54Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496054.56 epoch sec; seqNo:1671; 4061661.98 north; 594305.17 east 2020-12-09T06:40:54Z- waiting for 1607496055.11, time is 1607496054.55 2020-12-09T06:40:54Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:54Z- AHRS_M2 msg: 1607496054.93 epoch sec; seqNo:1621 2020-12-09T06:40:54Z- AHRS_M2 msg: 1.45 phi; -0.09 theta; -0.27 psi 2020-12-09T06:40:54Z- waiting for 1607496055.11, time is 1607496054.55 2020-12-09T06:40:54Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:54Z- handleDepth()-Depth_Keller msg: 49.61 epoch sec; seqNo:1607496054930; depth 0.00 2020-12-09T06:40:54Z- waiting for 1607496055.11, time is 1607496054.55 2020-12-09T06:40:54Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496054.94 epoch sec; seqNo:1672; 4061661.98 north; 594305.17 east 2020-12-09T06:40:54Z- waiting for 1607496055.11, time is 1607496054.55 2020-12-09T06:40:54Z- sync is 0.40, coherence is 2.00 2020-12-09T06:40:55Z- AHRS_M2 msg: 1607496055.33 epoch sec; seqNo:1622 2020-12-09T06:40:55Z- AHRS_M2 msg: 1.44 phi; -0.08 theta; -0.27 psi 2020-12-09T06:40:55Z- waiting for 1607496055.11, time is 1607496054.55 2020-12-09T06:40:55Z- sync is 0.79, coherence is 2.00 2020-12-09T06:40:55Z- handleDepth()-Depth_Keller msg: 49.64 epoch sec; seqNo:1607496055338; depth 0.00 2020-12-09T06:40:55Z- waiting for 1607496055.11, time is 1607496054.55 2020-12-09T06:40:55Z- sync is 0.79, coherence is 2.00 2020-12-09T06:40:55Z- handleDvl() - RDI_Pathfinder msg: 1607496055.36 epoch sec; seqNo:929 2020-12-09T06:40:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.15 , 52.45 , 40.41 , 48.17 2020-12-09T06:40:55Z- handleDvl() - RDI_Pathfinder msg: velocities 1.16 , -0.01 , 0.12 2020-12-09T06:40:55Z- waiting for 1607496055.11, time is 1607496055.36 2020-12-09T06:40:55Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:55Z- LcmTrn::updateTrn() >>>> pose time 1607496055.33, meas time 1607496055.36 <<<< 2020-12-09T06:40:55Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607496055.36 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:40:55Z- TerrainNav::motionUpdate() - currEstimate = (4061662, 594305.17, 49.64) 2020-12-09T06:40:55Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:40:55Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:40:55Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:40:55Z- TNavBF::mmse selected from filter -1 2020-12-09T06:40:55Z- variances([0], [2], and psi_berg) = 786.729099 833.077967 0.000000 2020-12-09T06:40:55Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:40:55Z- LcmTrn::cycle() - MLE : 4061636.48 594257.67 49.64 2020-12-09T06:40:55Z- LcmTrn::cycle() - MMSE : 4061661.98 594305.17 49.64 2020-12-09T06:40:55Z- LcmTrn::cycle() - COVAR: 786.73 833.08 56.28 0.00 2020-12-09T06:40:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496055.37 epoch sec; seqNo:1673; 4061662.00 north; 594306.39 east 2020-12-09T06:40:55Z- waiting for 1607496058.36, time is 1607496055.36 2020-12-09T06:40:55Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:55Z- AHRS_M2 msg: 1607496055.73 epoch sec; seqNo:1623 2020-12-09T06:40:55Z- AHRS_M2 msg: 1.44 phi; -0.08 theta; -0.27 psi 2020-12-09T06:40:55Z- waiting for 1607496058.36, time is 1607496055.36 2020-12-09T06:40:55Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:55Z- handleDepth()-Depth_Keller msg: 49.68 epoch sec; seqNo:1607496055747; depth 0.00 2020-12-09T06:40:55Z- waiting for 1607496058.36, time is 1607496055.36 2020-12-09T06:40:55Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496055.76 epoch sec; seqNo:1674; 4061662.00 north; 594306.39 east 2020-12-09T06:40:55Z- waiting for 1607496058.36, time is 1607496055.36 2020-12-09T06:40:55Z- sync is 0.40, coherence is 2.00 2020-12-09T06:40:56Z- handleDepth()-Depth_Keller msg: 49.71 epoch sec; seqNo:1607496056160; depth 0.00 2020-12-09T06:40:56Z- waiting for 1607496058.36, time is 1607496055.36 2020-12-09T06:40:56Z- sync is 0.40, coherence is 2.00 2020-12-09T06:40:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496056.18 epoch sec; seqNo:1675; 4061662.38 north; 594306.39 east 2020-12-09T06:40:56Z- waiting for 1607496058.36, time is 1607496055.36 2020-12-09T06:40:56Z- sync is 0.82, coherence is 2.00 2020-12-09T06:40:56Z- AHRS_M2 msg: 1607496056.55 epoch sec; seqNo:1624 2020-12-09T06:40:56Z- AHRS_M2 msg: 1.44 phi; -0.08 theta; -0.26 psi 2020-12-09T06:40:56Z- waiting for 1607496058.36, time is 1607496055.36 2020-12-09T06:40:56Z- sync is 1.19, coherence is 2.00 2020-12-09T06:40:56Z- handleDepth()-Depth_Keller msg: 49.76 epoch sec; seqNo:1607496056550; depth 0.00 2020-12-09T06:40:56Z- waiting for 1607496058.36, time is 1607496055.36 2020-12-09T06:40:56Z- sync is 1.19, coherence is 2.00 2020-12-09T06:40:56Z- handleDvl() - RDI_Pathfinder msg: 1607496056.56 epoch sec; seqNo:930 2020-12-09T06:40:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.35 , 51.84 , 39.80 , 47.55 2020-12-09T06:40:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.20 , 0.00 , 0.05 2020-12-09T06:40:56Z- waiting for 1607496058.36, time is 1607496056.56 2020-12-09T06:40:56Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496056.59 epoch sec; seqNo:1676; 4061662.39 north; 594307.61 east 2020-12-09T06:40:56Z- waiting for 1607496058.36, time is 1607496056.56 2020-12-09T06:40:56Z- sync is 0.03, coherence is 2.00 2020-12-09T06:40:56Z- AHRS_M2 msg: 1607496056.94 epoch sec; seqNo:1625 2020-12-09T06:40:56Z- AHRS_M2 msg: 1.44 phi; -0.08 theta; -0.25 psi 2020-12-09T06:40:56Z- waiting for 1607496058.36, time is 1607496056.56 2020-12-09T06:40:56Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:56Z- handleDepth()-Depth_Keller msg: 49.79 epoch sec; seqNo:1607496056961; depth 0.00 2020-12-09T06:40:56Z- waiting for 1607496058.36, time is 1607496056.56 2020-12-09T06:40:56Z- sync is 0.38, coherence is 2.00 2020-12-09T06:40:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496056.97 epoch sec; seqNo:1677; 4061662.39 north; 594307.61 east 2020-12-09T06:40:56Z- waiting for 1607496058.36, time is 1607496056.56 2020-12-09T06:40:56Z- sync is 0.41, coherence is 2.00 2020-12-09T06:40:57Z- AHRS_M2 msg: 1607496057.35 epoch sec; seqNo:1626 2020-12-09T06:40:57Z- AHRS_M2 msg: 1.44 phi; -0.08 theta; -0.25 psi 2020-12-09T06:40:57Z- waiting for 1607496058.36, time is 1607496056.56 2020-12-09T06:40:57Z- sync is 0.79, coherence is 2.00 2020-12-09T06:40:57Z- handleDepth()-Depth_Keller msg: 49.82 epoch sec; seqNo:1607496057358; depth 0.00 2020-12-09T06:40:57Z- waiting for 1607496058.36, time is 1607496056.56 2020-12-09T06:40:57Z- sync is 0.79, coherence is 2.00 2020-12-09T06:40:57Z- handleDvl() - RDI_Pathfinder msg: 1607496057.38 epoch sec; seqNo:931 2020-12-09T06:40:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.76 , 51.02 , 39.59 , 47.15 2020-12-09T06:40:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.19 , 0.01 , -0.02 2020-12-09T06:40:57Z- waiting for 1607496058.36, time is 1607496057.38 2020-12-09T06:40:57Z- sync is 0.03, coherence is 2.00 2020-12-09T06:40:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496057.39 epoch sec; seqNo:1678; 4061662.39 north; 594307.61 east 2020-12-09T06:40:57Z- waiting for 1607496058.36, time is 1607496057.38 2020-12-09T06:40:57Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:57Z- AHRS_M2 msg: 1607496057.75 epoch sec; seqNo:1627 2020-12-09T06:40:57Z- AHRS_M2 msg: 1.44 phi; -0.08 theta; -0.25 psi 2020-12-09T06:40:57Z- waiting for 1607496058.36, time is 1607496057.38 2020-12-09T06:40:57Z- sync is 0.37, coherence is 2.00 2020-12-09T06:40:57Z- handleDepth()-Depth_Keller msg: 49.85 epoch sec; seqNo:1607496057762; depth 0.00 2020-12-09T06:40:57Z- waiting for 1607496058.36, time is 1607496057.38 2020-12-09T06:40:57Z- sync is 0.37, coherence is 2.00 2020-12-09T06:40:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496057.78 epoch sec; seqNo:1679; 4061662.40 north; 594308.83 east 2020-12-09T06:40:57Z- waiting for 1607496058.36, time is 1607496057.38 2020-12-09T06:40:57Z- sync is 0.40, coherence is 2.00 2020-12-09T06:40:58Z- AHRS_M2 msg: 1607496058.16 epoch sec; seqNo:1628 2020-12-09T06:40:58Z- AHRS_M2 msg: 1.45 phi; -0.08 theta; -0.25 psi 2020-12-09T06:40:58Z- waiting for 1607496058.36, time is 1607496057.38 2020-12-09T06:40:58Z- sync is 0.78, coherence is 2.00 2020-12-09T06:40:58Z- handleDepth()-Depth_Keller msg: 49.86 epoch sec; seqNo:1607496058167; depth 0.00 2020-12-09T06:40:58Z- waiting for 1607496058.36, time is 1607496057.38 2020-12-09T06:40:58Z- sync is 0.78, coherence is 2.00 2020-12-09T06:40:58Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:58Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:58Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:40:58Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:40:58Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:40:58Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:40:58Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:40:58Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:40:58Z- handleDvl() - RDI_Pathfinder msg: 1607496058.17 epoch sec; seqNo:932 2020-12-09T06:40:58Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:40:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.19 , 0.01 , -0.02 2020-12-09T06:40:58Z- waiting for 1607496058.36, time is 1607496058.17 2020-12-09T06:40:58Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496058.18 epoch sec; seqNo:1680; 4061662.40 north; 594308.83 east 2020-12-09T06:40:58Z- waiting for 1607496058.36, time is 1607496058.17 2020-12-09T06:40:58Z- sync is 0.01, coherence is 2.00 2020-12-09T06:40:58Z- AHRS_M2 msg: 1607496058.56 epoch sec; seqNo:1629 2020-12-09T06:40:58Z- AHRS_M2 msg: 1.45 phi; -0.08 theta; -0.24 psi 2020-12-09T06:40:58Z- waiting for 1607496058.36, time is 1607496058.17 2020-12-09T06:40:58Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:58Z- handleDepth()-Depth_Keller msg: 49.90 epoch sec; seqNo:1607496058569; depth 0.00 2020-12-09T06:40:58Z- waiting for 1607496058.36, time is 1607496058.17 2020-12-09T06:40:58Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:58Z- handleDvl() - RDI_Pathfinder msg: 1607496058.59 epoch sec; seqNo:933 2020-12-09T06:40:58Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.55 , 49.59 , 38.78 , 46.53 2020-12-09T06:40:58Z- handleDvl() - RDI_Pathfinder msg: velocities 1.14 , -0.00 , -0.09 2020-12-09T06:40:58Z- waiting for 1607496058.36, time is 1607496058.59 2020-12-09T06:40:58Z- sync is 0.03, coherence is 2.00 2020-12-09T06:40:58Z- LcmTrn::updateTrn() >>>> pose time 1607496058.56, meas time 1607496058.59 <<<< 2020-12-09T06:40:58Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607496058.59 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:40:58Z- TerrainNav::motionUpdate() - currEstimate = (4061662, 594308.83, 49.90) 2020-12-09T06:40:58Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:40:58Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:40:58Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:40:58Z- TNavBF::mmse selected from filter -1 2020-12-09T06:40:58Z- variances([0], [2], and psi_berg) = 786.564030 833.077699 0.000000 2020-12-09T06:40:58Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:40:58Z- LcmTrn::cycle() - MLE : 4061636.90 594261.33 49.90 2020-12-09T06:40:58Z- LcmTrn::cycle() - MMSE : 4061662.40 594308.83 49.90 2020-12-09T06:40:58Z- LcmTrn::cycle() - COVAR: 786.56 833.08 56.46 0.00 2020-12-09T06:40:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496058.61 epoch sec; seqNo:1681; 4061662.80 north; 594310.05 east 2020-12-09T06:40:58Z- waiting for 1607496061.59, time is 1607496058.59 2020-12-09T06:40:58Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:58Z- AHRS_M2 msg: 1607496058.96 epoch sec; seqNo:1630 2020-12-09T06:40:58Z- AHRS_M2 msg: 1.45 phi; -0.08 theta; -0.23 psi 2020-12-09T06:40:58Z- waiting for 1607496061.59, time is 1607496058.59 2020-12-09T06:40:58Z- sync is 0.37, coherence is 2.00 2020-12-09T06:40:58Z- handleDepth()-Depth_Keller msg: 49.91 epoch sec; seqNo:1607496058970; depth 0.00 2020-12-09T06:40:58Z- waiting for 1607496061.59, time is 1607496058.59 2020-12-09T06:40:58Z- sync is 0.37, coherence is 2.00 2020-12-09T06:40:58Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496059.00 epoch sec; seqNo:1682; 4061662.80 north; 594310.05 east 2020-12-09T06:40:58Z- waiting for 1607496061.59, time is 1607496058.59 2020-12-09T06:40:58Z- sync is 0.41, coherence is 2.00 2020-12-09T06:40:59Z- AHRS_M2 msg: 1607496059.37 epoch sec; seqNo:1631 2020-12-09T06:40:59Z- AHRS_M2 msg: 1.45 phi; -0.08 theta; -0.22 psi 2020-12-09T06:40:59Z- waiting for 1607496061.59, time is 1607496058.59 2020-12-09T06:40:59Z- sync is 0.78, coherence is 2.00 2020-12-09T06:40:59Z- handleDepth()-Depth_Keller msg: 49.92 epoch sec; seqNo:1607496059375; depth 0.00 2020-12-09T06:40:59Z- waiting for 1607496061.59, time is 1607496058.59 2020-12-09T06:40:59Z- sync is 0.78, coherence is 2.00 2020-12-09T06:40:59Z- handleDvl() - RDI_Pathfinder msg: 1607496059.39 epoch sec; seqNo:934 2020-12-09T06:40:59Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.35 , 48.17 , 38.37 , 45.72 2020-12-09T06:40:59Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.01 , -0.14 2020-12-09T06:40:59Z- waiting for 1607496061.59, time is 1607496059.39 2020-12-09T06:40:59Z- sync is 0.02, coherence is 2.00 2020-12-09T06:40:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496059.42 epoch sec; seqNo:1683; 4061662.80 north; 594310.05 east 2020-12-09T06:40:59Z- waiting for 1607496061.59, time is 1607496059.39 2020-12-09T06:40:59Z- sync is 0.03, coherence is 2.00 2020-12-09T06:40:59Z- AHRS_M2 msg: 1607496059.78 epoch sec; seqNo:1632 2020-12-09T06:40:59Z- AHRS_M2 msg: 1.46 phi; -0.07 theta; -0.21 psi 2020-12-09T06:40:59Z- waiting for 1607496061.59, time is 1607496059.39 2020-12-09T06:40:59Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:59Z- handleDepth()-Depth_Keller msg: 49.93 epoch sec; seqNo:1607496059779; depth 0.00 2020-12-09T06:40:59Z- waiting for 1607496061.59, time is 1607496059.39 2020-12-09T06:40:59Z- sync is 0.39, coherence is 2.00 2020-12-09T06:40:59Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496059.80 epoch sec; seqNo:1684; 4061662.81 north; 594311.27 east 2020-12-09T06:40:59Z- waiting for 1607496061.59, time is 1607496059.39 2020-12-09T06:40:59Z- sync is 0.41, coherence is 2.00 2020-12-09T06:41:00Z- AHRS_M2 msg: 1607496060.18 epoch sec; seqNo:1633 2020-12-09T06:41:00Z- AHRS_M2 msg: 1.46 phi; -0.08 theta; -0.20 psi 2020-12-09T06:41:00Z- waiting for 1607496061.59, time is 1607496059.39 2020-12-09T06:41:00Z- sync is 0.79, coherence is 2.00 2020-12-09T06:41:00Z- handleDepth()-Depth_Keller msg: 49.95 epoch sec; seqNo:1607496060197; depth 0.00 2020-12-09T06:41:00Z- waiting for 1607496061.59, time is 1607496059.39 2020-12-09T06:41:00Z- sync is 0.79, coherence is 2.00 2020-12-09T06:41:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496060.21 epoch sec; seqNo:1685; 4061662.81 north; 594311.27 east 2020-12-09T06:41:00Z- waiting for 1607496061.59, time is 1607496059.39 2020-12-09T06:41:00Z- sync is 0.82, coherence is 2.00 2020-12-09T06:41:00Z- AHRS_M2 msg: 1607496060.59 epoch sec; seqNo:1634 2020-12-09T06:41:00Z- AHRS_M2 msg: 1.46 phi; -0.08 theta; -0.20 psi 2020-12-09T06:41:00Z- waiting for 1607496061.59, time is 1607496059.39 2020-12-09T06:41:00Z- sync is 1.20, coherence is 2.00 2020-12-09T06:41:00Z- handleDepth()-Depth_Keller msg: 49.94 epoch sec; seqNo:1607496060593; depth 0.00 2020-12-09T06:41:00Z- waiting for 1607496061.59, time is 1607496059.39 2020-12-09T06:41:00Z- sync is 1.20, coherence is 2.00 2020-12-09T06:41:00Z- handleDvl() - RDI_Pathfinder msg: 1607496060.61 epoch sec; seqNo:935 2020-12-09T06:41:00Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.76 , 47.35 , 37.96 , 45.51 2020-12-09T06:41:00Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.03 , -0.15 2020-12-09T06:41:00Z- waiting for 1607496061.59, time is 1607496060.61 2020-12-09T06:41:00Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496060.62 epoch sec; seqNo:1686; 4061662.81 north; 594311.27 east 2020-12-09T06:41:00Z- waiting for 1607496061.59, time is 1607496060.61 2020-12-09T06:41:00Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:00Z- AHRS_M2 msg: 1607496060.99 epoch sec; seqNo:1635 2020-12-09T06:41:00Z- AHRS_M2 msg: 1.45 phi; -0.08 theta; -0.21 psi 2020-12-09T06:41:00Z- waiting for 1607496061.59, time is 1607496060.61 2020-12-09T06:41:00Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:00Z- handleDepth()-Depth_Keller msg: 49.95 epoch sec; seqNo:1607496060992; depth 0.00 2020-12-09T06:41:00Z- waiting for 1607496061.59, time is 1607496060.61 2020-12-09T06:41:00Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:00Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496061.00 epoch sec; seqNo:1687; 4061663.20 north; 594312.48 east 2020-12-09T06:41:00Z- waiting for 1607496061.59, time is 1607496060.61 2020-12-09T06:41:00Z- sync is 0.40, coherence is 2.00 2020-12-09T06:41:01Z- AHRS_M2 msg: 1607496061.39 epoch sec; seqNo:1636 2020-12-09T06:41:01Z- AHRS_M2 msg: 1.45 phi; -0.08 theta; -0.21 psi 2020-12-09T06:41:01Z- waiting for 1607496061.59, time is 1607496060.61 2020-12-09T06:41:01Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:01Z- handleDepth()-Depth_Keller msg: 49.96 epoch sec; seqNo:1607496061394; depth 0.00 2020-12-09T06:41:01Z- waiting for 1607496061.59, time is 1607496060.61 2020-12-09T06:41:01Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:01Z- handleDvl() - RDI_Pathfinder msg: 1607496061.41 epoch sec; seqNo:936 2020-12-09T06:41:01Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 37.35 , 46.94 , 37.96 , 45.31 2020-12-09T06:41:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.06 , -0.12 2020-12-09T06:41:01Z- waiting for 1607496061.59, time is 1607496061.41 2020-12-09T06:41:01Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496061.42 epoch sec; seqNo:1688; 4061663.20 north; 594312.48 east 2020-12-09T06:41:01Z- waiting for 1607496061.59, time is 1607496061.41 2020-12-09T06:41:01Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:01Z- AHRS_M2 msg: 1607496061.79 epoch sec; seqNo:1637 2020-12-09T06:41:01Z- AHRS_M2 msg: 1.45 phi; -0.08 theta; -0.22 psi 2020-12-09T06:41:01Z- waiting for 1607496061.59, time is 1607496061.41 2020-12-09T06:41:01Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:01Z- handleDepth()-Depth_Keller msg: 49.95 epoch sec; seqNo:1607496061798; depth 0.00 2020-12-09T06:41:01Z- waiting for 1607496061.59, time is 1607496061.41 2020-12-09T06:41:01Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:01Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:01Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:01Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:01Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:41:01Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:41:01Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:41:01Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:41:01Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:41:01Z- handleDvl() - RDI_Pathfinder msg: 1607496061.80 epoch sec; seqNo:937 2020-12-09T06:41:01Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:41:01Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.06 , -0.12 2020-12-09T06:41:01Z- waiting for 1607496061.59, time is 1607496061.80 2020-12-09T06:41:01Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:01Z- LcmTrn::updateTrn() >>>> pose time 1607496061.79, meas time 1607496061.80 <<<< 2020-12-09T06:41:01Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607496061.80, ping # 0. 2020-12-09T06:41:01Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607496061.80 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:41:01Z- TerrainNav::motionUpdate() - currEstimate = (4061663, 594312.48, 49.95) 2020-12-09T06:41:01Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:41:01Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:41:01Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:41:01Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:41:01Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:41:01Z- TNavBF::mmse selected from filter -1 2020-12-09T06:41:01Z- variances([0], [2], and psi_berg) = 786.398173 833.077430 0.000000 2020-12-09T06:41:01Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:41:01Z- LcmTrn::cycle() - MLE : 4061637.70 594264.98 49.95 2020-12-09T06:41:01Z- LcmTrn::cycle() - MMSE : 4061663.20 594312.48 49.95 2020-12-09T06:41:01Z- LcmTrn::cycle() - COVAR: 786.40 833.08 56.65 0.00 2020-12-09T06:41:01Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496061.84 epoch sec; seqNo:1689; 4061663.20 north; 594312.48 east 2020-12-09T06:41:01Z- waiting for 1607496064.80, time is 1607496061.80 2020-12-09T06:41:01Z- sync is 0.03, coherence is 2.00 2020-12-09T06:41:02Z- AHRS_M2 msg: 1607496062.20 epoch sec; seqNo:1638 2020-12-09T06:41:02Z- AHRS_M2 msg: 1.44 phi; -0.08 theta; -0.22 psi 2020-12-09T06:41:02Z- waiting for 1607496064.80, time is 1607496061.80 2020-12-09T06:41:02Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:02Z- handleDepth()-Depth_Keller msg: 49.97 epoch sec; seqNo:1607496062200; depth 0.00 2020-12-09T06:41:02Z- waiting for 1607496064.80, time is 1607496061.80 2020-12-09T06:41:02Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496062.21 epoch sec; seqNo:1690; 4061663.22 north; 594313.70 east 2020-12-09T06:41:02Z- waiting for 1607496064.80, time is 1607496061.80 2020-12-09T06:41:02Z- sync is 0.41, coherence is 2.00 2020-12-09T06:41:02Z- AHRS_M2 msg: 1607496062.60 epoch sec; seqNo:1639 2020-12-09T06:41:02Z- AHRS_M2 msg: 1.44 phi; -0.07 theta; -0.23 psi 2020-12-09T06:41:02Z- waiting for 1607496064.80, time is 1607496061.80 2020-12-09T06:41:02Z- sync is 0.80, coherence is 2.00 2020-12-09T06:41:02Z- handleDepth()-Depth_Keller msg: 49.98 epoch sec; seqNo:1607496062609; depth 0.00 2020-12-09T06:41:02Z- waiting for 1607496064.80, time is 1607496061.80 2020-12-09T06:41:02Z- sync is 0.80, coherence is 2.00 2020-12-09T06:41:02Z- handleDvl() - RDI_Pathfinder msg: 1607496062.62 epoch sec; seqNo:938 2020-12-09T06:41:02Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.74 , 48.17 , 37.96 , 45.10 2020-12-09T06:41:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.07 , -0.08 2020-12-09T06:41:02Z- waiting for 1607496064.80, time is 1607496062.62 2020-12-09T06:41:02Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496062.63 epoch sec; seqNo:1691; 4061663.22 north; 594313.70 east 2020-12-09T06:41:02Z- waiting for 1607496064.80, time is 1607496062.62 2020-12-09T06:41:02Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:02Z- handleDepth()-Depth_Keller msg: 49.98 epoch sec; seqNo:1607496063026; depth 0.00 2020-12-09T06:41:02Z- waiting for 1607496064.80, time is 1607496062.62 2020-12-09T06:41:02Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:02Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:02Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:02Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:02Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:41:02Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:41:02Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:41:02Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:41:02Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:41:02Z- handleDvl() - RDI_Pathfinder msg: 1607496063.03 epoch sec; seqNo:939 2020-12-09T06:41:02Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:41:02Z- handleDvl() - RDI_Pathfinder msg: velocities 0.83 , -0.07 , -0.08 2020-12-09T06:41:02Z- waiting for 1607496064.80, time is 1607496063.03 2020-12-09T06:41:02Z- sync is 0.40, coherence is 2.00 2020-12-09T06:41:02Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496063.04 epoch sec; seqNo:1692; 4061663.59 north; 594313.70 east 2020-12-09T06:41:02Z- waiting for 1607496064.80, time is 1607496063.03 2020-12-09T06:41:02Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:03Z- AHRS_M2 msg: 1607496063.41 epoch sec; seqNo:1640 2020-12-09T06:41:03Z- AHRS_M2 msg: 1.43 phi; -0.07 theta; -0.23 psi 2020-12-09T06:41:03Z- waiting for 1607496064.80, time is 1607496063.03 2020-12-09T06:41:03Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:03Z- handleDepth()-Depth_Keller msg: 50.01 epoch sec; seqNo:1607496063415; depth 0.00 2020-12-09T06:41:03Z- waiting for 1607496064.80, time is 1607496063.03 2020-12-09T06:41:03Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:03Z- handleDvl() - RDI_Pathfinder msg: 1607496063.44 epoch sec; seqNo:940 2020-12-09T06:41:03Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.33 , 48.37 , 37.55 , 45.10 2020-12-09T06:41:03Z- handleDvl() - RDI_Pathfinder msg: velocities 0.80 , -0.08 , -0.03 2020-12-09T06:41:03Z- waiting for 1607496064.80, time is 1607496063.44 2020-12-09T06:41:03Z- sync is 0.03, coherence is 2.00 2020-12-09T06:41:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496063.45 epoch sec; seqNo:1693; 4061663.59 north; 594313.70 east 2020-12-09T06:41:03Z- waiting for 1607496064.80, time is 1607496063.44 2020-12-09T06:41:03Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:03Z- AHRS_M2 msg: 1607496063.81 epoch sec; seqNo:1641 2020-12-09T06:41:03Z- AHRS_M2 msg: 1.42 phi; -0.07 theta; -0.23 psi 2020-12-09T06:41:03Z- waiting for 1607496064.80, time is 1607496063.44 2020-12-09T06:41:03Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:03Z- handleDepth()-Depth_Keller msg: 50.01 epoch sec; seqNo:1607496063826; depth 0.00 2020-12-09T06:41:03Z- waiting for 1607496064.80, time is 1607496063.44 2020-12-09T06:41:03Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:03Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496063.84 epoch sec; seqNo:1694; 4061663.61 north; 594314.92 east 2020-12-09T06:41:03Z- waiting for 1607496064.80, time is 1607496063.44 2020-12-09T06:41:03Z- sync is 0.40, coherence is 2.00 2020-12-09T06:41:04Z- AHRS_M2 msg: 1607496064.22 epoch sec; seqNo:1642 2020-12-09T06:41:04Z- AHRS_M2 msg: 1.42 phi; -0.07 theta; -0.23 psi 2020-12-09T06:41:04Z- waiting for 1607496064.80, time is 1607496063.44 2020-12-09T06:41:04Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:04Z- handleDepth()-Depth_Keller msg: 50.04 epoch sec; seqNo:1607496064224; depth 0.00 2020-12-09T06:41:04Z- waiting for 1607496064.80, time is 1607496063.44 2020-12-09T06:41:04Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496064.23 epoch sec; seqNo:1695; 4061663.61 north; 594314.92 east 2020-12-09T06:41:04Z- waiting for 1607496064.80, time is 1607496063.44 2020-12-09T06:41:04Z- sync is 0.80, coherence is 2.00 2020-12-09T06:41:04Z- AHRS_M2 msg: 1607496064.62 epoch sec; seqNo:1643 2020-12-09T06:41:04Z- AHRS_M2 msg: 1.42 phi; -0.07 theta; -0.23 psi 2020-12-09T06:41:04Z- waiting for 1607496064.80, time is 1607496063.44 2020-12-09T06:41:04Z- sync is 1.18, coherence is 2.00 2020-12-09T06:41:04Z- handleDepth()-Depth_Keller msg: 50.07 epoch sec; seqNo:1607496064630; depth 0.00 2020-12-09T06:41:04Z- waiting for 1607496064.80, time is 1607496063.44 2020-12-09T06:41:04Z- sync is 1.18, coherence is 2.00 2020-12-09T06:41:04Z- handleDvl() - RDI_Pathfinder msg: 1607496064.65 epoch sec; seqNo:941 2020-12-09T06:41:04Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 36.33 , 48.37 , 37.15 , 45.10 2020-12-09T06:41:04Z- handleDvl() - RDI_Pathfinder msg: velocities 0.81 , -0.09 , 0.03 2020-12-09T06:41:04Z- waiting for 1607496064.80, time is 1607496064.65 2020-12-09T06:41:04Z- sync is 0.03, coherence is 2.00 2020-12-09T06:41:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496064.66 epoch sec; seqNo:1696; 4061663.61 north; 594314.92 east 2020-12-09T06:41:04Z- waiting for 1607496064.80, time is 1607496064.65 2020-12-09T06:41:04Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:04Z- AHRS_M2 msg: 1607496065.03 epoch sec; seqNo:1644 2020-12-09T06:41:04Z- AHRS_M2 msg: 1.41 phi; -0.06 theta; -0.23 psi 2020-12-09T06:41:04Z- waiting for 1607496064.80, time is 1607496064.65 2020-12-09T06:41:04Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:04Z- handleDepth()-Depth_Keller msg: 50.09 epoch sec; seqNo:1607496065030; depth 0.00 2020-12-09T06:41:04Z- waiting for 1607496064.80, time is 1607496064.65 2020-12-09T06:41:04Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:04Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496065.04 epoch sec; seqNo:1697; 4061663.99 north; 594314.91 east 2020-12-09T06:41:04Z- waiting for 1607496064.80, time is 1607496064.65 2020-12-09T06:41:04Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:05Z- AHRS_M2 msg: 1607496065.43 epoch sec; seqNo:1645 2020-12-09T06:41:05Z- AHRS_M2 msg: 1.41 phi; -0.06 theta; -0.23 psi 2020-12-09T06:41:05Z- waiting for 1607496064.80, time is 1607496064.65 2020-12-09T06:41:05Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:05Z- handleDepth()-Depth_Keller msg: 50.14 epoch sec; seqNo:1607496065442; depth 0.00 2020-12-09T06:41:05Z- waiting for 1607496064.80, time is 1607496064.65 2020-12-09T06:41:05Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:05Z- handleDvl() - RDI_Pathfinder msg: 1607496065.46 epoch sec; seqNo:942 2020-12-09T06:41:05Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.92 , 48.37 , 36.94 , 44.90 2020-12-09T06:41:05Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.10 , 0.07 2020-12-09T06:41:05Z- waiting for 1607496064.80, time is 1607496065.46 2020-12-09T06:41:05Z- sync is 0.03, coherence is 2.00 2020-12-09T06:41:05Z- LcmTrn::updateTrn() >>>> pose time 1607496065.43, meas time 1607496065.46 <<<< 2020-12-09T06:41:05Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607496065.46 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:41:05Z- TerrainNav::motionUpdate() - currEstimate = (4061664, 594314.91, 50.14) 2020-12-09T06:41:05Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:41:05Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:41:05Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:41:05Z- TNavBF::mmse selected from filter -1 2020-12-09T06:41:05Z- variances([0], [2], and psi_berg) = 786.261471 833.077209 0.000000 2020-12-09T06:41:05Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:41:05Z- LcmTrn::cycle() - MLE : 4061638.49 594267.41 50.14 2020-12-09T06:41:05Z- LcmTrn::cycle() - MMSE : 4061663.99 594314.91 50.14 2020-12-09T06:41:05Z- LcmTrn::cycle() - COVAR: 786.26 833.08 56.78 0.00 2020-12-09T06:41:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496065.49 epoch sec; seqNo:1698; 4061664.00 north; 594316.14 east 2020-12-09T06:41:05Z- waiting for 1607496068.46, time is 1607496065.46 2020-12-09T06:41:05Z- sync is 0.03, coherence is 2.00 2020-12-09T06:41:05Z- AHRS_M2 msg: 1607496065.84 epoch sec; seqNo:1646 2020-12-09T06:41:05Z- AHRS_M2 msg: 1.41 phi; -0.06 theta; -0.23 psi 2020-12-09T06:41:05Z- waiting for 1607496068.46, time is 1607496065.46 2020-12-09T06:41:05Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:05Z- handleDepth()-Depth_Keller msg: 50.18 epoch sec; seqNo:1607496065839; depth 0.00 2020-12-09T06:41:05Z- waiting for 1607496068.46, time is 1607496065.46 2020-12-09T06:41:05Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:05Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496065.85 epoch sec; seqNo:1699; 4061664.00 north; 594316.14 east 2020-12-09T06:41:05Z- waiting for 1607496068.46, time is 1607496065.46 2020-12-09T06:41:05Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:06Z- AHRS_M2 msg: 1607496066.24 epoch sec; seqNo:1647 2020-12-09T06:41:06Z- AHRS_M2 msg: 1.40 phi; -0.06 theta; -0.23 psi 2020-12-09T06:41:06Z- waiting for 1607496068.46, time is 1607496065.46 2020-12-09T06:41:06Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:06Z- handleDepth()-Depth_Keller msg: 50.21 epoch sec; seqNo:1607496066247; depth 0.00 2020-12-09T06:41:06Z- waiting for 1607496068.46, time is 1607496065.46 2020-12-09T06:41:06Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496066.28 epoch sec; seqNo:1700; 4061664.00 north; 594316.14 east 2020-12-09T06:41:06Z- waiting for 1607496068.46, time is 1607496065.46 2020-12-09T06:41:06Z- sync is 0.83, coherence is 2.00 2020-12-09T06:41:06Z- AHRS_M2 msg: 1607496066.65 epoch sec; seqNo:1648 2020-12-09T06:41:06Z- AHRS_M2 msg: 1.40 phi; -0.05 theta; -0.23 psi 2020-12-09T06:41:06Z- waiting for 1607496068.46, time is 1607496065.46 2020-12-09T06:41:06Z- sync is 1.19, coherence is 2.00 2020-12-09T06:41:06Z- handleDepth()-Depth_Keller msg: 50.26 epoch sec; seqNo:1607496066653; depth 0.00 2020-12-09T06:41:06Z- waiting for 1607496068.46, time is 1607496065.46 2020-12-09T06:41:06Z- sync is 1.19, coherence is 2.00 2020-12-09T06:41:06Z- handleDvl() - RDI_Pathfinder msg: 1607496066.68 epoch sec; seqNo:943 2020-12-09T06:41:06Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.55 , 48.08 , 36.67 , 44.90 2020-12-09T06:41:06Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.12 , 0.10 2020-12-09T06:41:06Z- waiting for 1607496068.46, time is 1607496066.68 2020-12-09T06:41:06Z- sync is 0.03, coherence is 2.00 2020-12-09T06:41:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496066.69 epoch sec; seqNo:1701; 4061664.38 north; 594316.13 east 2020-12-09T06:41:06Z- waiting for 1607496068.46, time is 1607496066.68 2020-12-09T06:41:06Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:06Z- AHRS_M2 msg: 1607496067.05 epoch sec; seqNo:1649 2020-12-09T06:41:06Z- AHRS_M2 msg: 1.40 phi; -0.05 theta; -0.22 psi 2020-12-09T06:41:06Z- waiting for 1607496068.46, time is 1607496066.68 2020-12-09T06:41:06Z- sync is 0.37, coherence is 2.00 2020-12-09T06:41:06Z- handleDepth()-Depth_Keller msg: 50.31 epoch sec; seqNo:1607496067051; depth 0.00 2020-12-09T06:41:06Z- waiting for 1607496068.46, time is 1607496066.68 2020-12-09T06:41:06Z- sync is 0.37, coherence is 2.00 2020-12-09T06:41:06Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496067.07 epoch sec; seqNo:1702; 4061664.39 north; 594317.35 east 2020-12-09T06:41:06Z- waiting for 1607496068.46, time is 1607496066.68 2020-12-09T06:41:06Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:07Z- AHRS_M2 msg: 1607496067.47 epoch sec; seqNo:1650 2020-12-09T06:41:07Z- AHRS_M2 msg: 1.40 phi; -0.05 theta; -0.22 psi 2020-12-09T06:41:07Z- waiting for 1607496068.46, time is 1607496066.68 2020-12-09T06:41:07Z- sync is 0.79, coherence is 2.00 2020-12-09T06:41:07Z- handleDepth()-Depth_Keller msg: 50.34 epoch sec; seqNo:1607496067476; depth 0.00 2020-12-09T06:41:07Z- waiting for 1607496068.46, time is 1607496066.68 2020-12-09T06:41:07Z- sync is 0.79, coherence is 2.00 2020-12-09T06:41:07Z- handleDvl() - RDI_Pathfinder msg: 1607496067.49 epoch sec; seqNo:944 2020-12-09T06:41:07Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.36 , 47.52 , 36.48 , 44.34 2020-12-09T06:41:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.11 , 0.13 2020-12-09T06:41:07Z- waiting for 1607496068.46, time is 1607496067.49 2020-12-09T06:41:07Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496067.50 epoch sec; seqNo:1703; 4061664.39 north; 594317.35 east 2020-12-09T06:41:07Z- waiting for 1607496068.46, time is 1607496067.49 2020-12-09T06:41:07Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:07Z- AHRS_M2 msg: 1607496067.85 epoch sec; seqNo:1651 2020-12-09T06:41:07Z- AHRS_M2 msg: 1.40 phi; -0.05 theta; -0.22 psi 2020-12-09T06:41:07Z- waiting for 1607496068.46, time is 1607496067.49 2020-12-09T06:41:07Z- sync is 0.37, coherence is 2.00 2020-12-09T06:41:07Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1607496067858; depth 0.00 2020-12-09T06:41:07Z- waiting for 1607496068.46, time is 1607496067.49 2020-12-09T06:41:07Z- sync is 0.37, coherence is 2.00 2020-12-09T06:41:07Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:07Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:07Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:07Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:41:07Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:41:07Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:41:07Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:41:07Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:41:07Z- handleDvl() - RDI_Pathfinder msg: 1607496067.86 epoch sec; seqNo:945 2020-12-09T06:41:07Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:41:07Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.11 , 0.13 2020-12-09T06:41:07Z- waiting for 1607496068.46, time is 1607496067.86 2020-12-09T06:41:07Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:07Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496067.87 epoch sec; seqNo:1704; 4061664.39 north; 594317.35 east 2020-12-09T06:41:07Z- waiting for 1607496068.46, time is 1607496067.86 2020-12-09T06:41:07Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:08Z- AHRS_M2 msg: 1607496068.26 epoch sec; seqNo:1652 2020-12-09T06:41:08Z- AHRS_M2 msg: 1.40 phi; -0.04 theta; -0.22 psi 2020-12-09T06:41:08Z- waiting for 1607496068.46, time is 1607496067.86 2020-12-09T06:41:08Z- sync is 0.40, coherence is 2.00 2020-12-09T06:41:08Z- handleDepth()-Depth_Keller msg: 50.44 epoch sec; seqNo:1607496068281; depth 0.00 2020-12-09T06:41:08Z- waiting for 1607496068.46, time is 1607496067.86 2020-12-09T06:41:08Z- sync is 0.40, coherence is 2.00 2020-12-09T06:41:08Z- handleDvl() - RDI_Pathfinder msg: 1607496068.31 epoch sec; seqNo:946 2020-12-09T06:41:08Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.36 , 47.15 , 36.29 , 44.15 2020-12-09T06:41:08Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.09 , 0.14 2020-12-09T06:41:08Z- waiting for 1607496068.46, time is 1607496068.31 2020-12-09T06:41:08Z- sync is 0.05, coherence is 2.00 2020-12-09T06:41:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496068.33 epoch sec; seqNo:1705; 4061664.78 north; 594318.57 east 2020-12-09T06:41:08Z- waiting for 1607496068.46, time is 1607496068.31 2020-12-09T06:41:08Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:08Z- AHRS_M2 msg: 1607496068.66 epoch sec; seqNo:1653 2020-12-09T06:41:08Z- AHRS_M2 msg: 1.40 phi; -0.04 theta; -0.21 psi 2020-12-09T06:41:08Z- waiting for 1607496068.46, time is 1607496068.31 2020-12-09T06:41:08Z- sync is 0.35, coherence is 2.00 2020-12-09T06:41:08Z- handleDepth()-Depth_Keller msg: 50.49 epoch sec; seqNo:1607496068669; depth 0.00 2020-12-09T06:41:08Z- waiting for 1607496068.46, time is 1607496068.31 2020-12-09T06:41:08Z- sync is 0.35, coherence is 2.00 2020-12-09T06:41:08Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496068.68 epoch sec; seqNo:1706; 4061664.78 north; 594318.57 east 2020-12-09T06:41:08Z- waiting for 1607496068.46, time is 1607496068.31 2020-12-09T06:41:08Z- sync is 0.37, coherence is 2.00 2020-12-09T06:41:08Z- AHRS_M2 msg: 1607496069.07 epoch sec; seqNo:1654 2020-12-09T06:41:08Z- AHRS_M2 msg: 1.40 phi; -0.04 theta; -0.21 psi 2020-12-09T06:41:08Z- waiting for 1607496068.46, time is 1607496068.31 2020-12-09T06:41:08Z- sync is 0.75, coherence is 2.00 2020-12-09T06:41:08Z- handleDepth()-Depth_Keller msg: 50.53 epoch sec; seqNo:1607496069070; depth 0.00 2020-12-09T06:41:08Z- waiting for 1607496068.46, time is 1607496068.31 2020-12-09T06:41:08Z- sync is 0.75, coherence is 2.00 2020-12-09T06:41:09Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:09Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:09Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:09Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:41:09Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:41:09Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:41:09Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:41:09Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:41:09Z- handleDvl() - RDI_Pathfinder msg: 1607496069.07 epoch sec; seqNo:947 2020-12-09T06:41:09Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:41:09Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.09 , 0.14 2020-12-09T06:41:09Z- waiting for 1607496068.46, time is 1607496069.07 2020-12-09T06:41:09Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:09Z- LcmTrn::updateTrn() >>>> pose time 1607496069.07, meas time 1607496069.07 <<<< 2020-12-09T06:41:09Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607496069.07, ping # 0. 2020-12-09T06:41:09Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607496069.07 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:41:09Z- TerrainNav::motionUpdate() - currEstimate = (4061665, 594318.57, 50.53) 2020-12-09T06:41:09Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:41:09Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:41:09Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:41:09Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:41:09Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:41:09Z- TNavBF::mmse selected from filter -1 2020-12-09T06:41:09Z- variances([0], [2], and psi_berg) = 786.096542 833.076943 0.000000 2020-12-09T06:41:09Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:41:09Z- LcmTrn::cycle() - MLE : 4061639.28 594271.07 50.53 2020-12-09T06:41:09Z- LcmTrn::cycle() - MMSE : 4061664.78 594318.57 50.53 2020-12-09T06:41:09Z- LcmTrn::cycle() - COVAR: 786.10 833.08 56.97 0.00 2020-12-09T06:41:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496069.09 epoch sec; seqNo:1707; 4061664.78 north; 594318.57 east 2020-12-09T06:41:09Z- waiting for 1607496072.07, time is 1607496069.07 2020-12-09T06:41:09Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:09Z- AHRS_M2 msg: 1607496069.48 epoch sec; seqNo:1655 2020-12-09T06:41:09Z- AHRS_M2 msg: 1.40 phi; -0.04 theta; -0.21 psi 2020-12-09T06:41:09Z- waiting for 1607496072.07, time is 1607496069.07 2020-12-09T06:41:09Z- sync is 0.41, coherence is 2.00 2020-12-09T06:41:09Z- handleDepth()-Depth_Keller msg: 50.56 epoch sec; seqNo:1607496069487; depth 0.00 2020-12-09T06:41:09Z- waiting for 1607496072.07, time is 1607496069.07 2020-12-09T06:41:09Z- sync is 0.41, coherence is 2.00 2020-12-09T06:41:09Z- handleDvl() - RDI_Pathfinder msg: 1607496069.51 epoch sec; seqNo:948 2020-12-09T06:41:09Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.73 , 46.58 , 36.67 , 43.78 2020-12-09T06:41:09Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , -0.06 , 0.14 2020-12-09T06:41:09Z- waiting for 1607496072.07, time is 1607496069.51 2020-12-09T06:41:09Z- sync is 0.03, coherence is 2.00 2020-12-09T06:41:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496069.52 epoch sec; seqNo:1708; 4061664.80 north; 594319.79 east 2020-12-09T06:41:09Z- waiting for 1607496072.07, time is 1607496069.51 2020-12-09T06:41:09Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:09Z- handleDepth()-Depth_Keller msg: 50.61 epoch sec; seqNo:1607496069890; depth 0.00 2020-12-09T06:41:09Z- waiting for 1607496072.07, time is 1607496069.51 2020-12-09T06:41:09Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:09Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496069.91 epoch sec; seqNo:1709; 4061665.18 north; 594319.78 east 2020-12-09T06:41:09Z- waiting for 1607496072.07, time is 1607496069.51 2020-12-09T06:41:09Z- sync is 0.40, coherence is 2.00 2020-12-09T06:41:10Z- AHRS_M2 msg: 1607496070.30 epoch sec; seqNo:1656 2020-12-09T06:41:10Z- AHRS_M2 msg: 1.40 phi; -0.03 theta; -0.20 psi 2020-12-09T06:41:10Z- waiting for 1607496072.07, time is 1607496069.51 2020-12-09T06:41:10Z- sync is 0.79, coherence is 2.00 2020-12-09T06:41:10Z- handleDepth()-Depth_Keller msg: 50.64 epoch sec; seqNo:1607496070309; depth 0.00 2020-12-09T06:41:10Z- waiting for 1607496072.07, time is 1607496069.51 2020-12-09T06:41:10Z- sync is 0.79, coherence is 2.00 2020-12-09T06:41:10Z- handleDvl() - RDI_Pathfinder msg: 1607496070.32 epoch sec; seqNo:949 2020-12-09T06:41:10Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.73 , 46.77 , 36.67 , 43.78 2020-12-09T06:41:10Z- handleDvl() - RDI_Pathfinder msg: velocities 1.12 , -0.03 , 0.12 2020-12-09T06:41:10Z- waiting for 1607496072.07, time is 1607496070.32 2020-12-09T06:41:10Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496070.34 epoch sec; seqNo:1710; 4061665.18 north; 594319.78 east 2020-12-09T06:41:10Z- waiting for 1607496072.07, time is 1607496070.32 2020-12-09T06:41:10Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:10Z- AHRS_M2 msg: 1607496070.68 epoch sec; seqNo:1657 2020-12-09T06:41:10Z- AHRS_M2 msg: 1.40 phi; -0.03 theta; -0.20 psi 2020-12-09T06:41:10Z- waiting for 1607496072.07, time is 1607496070.32 2020-12-09T06:41:10Z- sync is 0.36, coherence is 2.00 2020-12-09T06:41:10Z- handleDepth()-Depth_Keller msg: 50.69 epoch sec; seqNo:1607496070686; depth 0.00 2020-12-09T06:41:10Z- waiting for 1607496072.07, time is 1607496070.32 2020-12-09T06:41:10Z- sync is 0.36, coherence is 2.00 2020-12-09T06:41:10Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496070.71 epoch sec; seqNo:1711; 4061665.19 north; 594321.00 east 2020-12-09T06:41:10Z- waiting for 1607496072.07, time is 1607496070.32 2020-12-09T06:41:10Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:11Z- AHRS_M2 msg: 1607496071.09 epoch sec; seqNo:1658 2020-12-09T06:41:11Z- AHRS_M2 msg: 1.40 phi; -0.03 theta; -0.19 psi 2020-12-09T06:41:11Z- waiting for 1607496072.07, time is 1607496070.32 2020-12-09T06:41:11Z- sync is 0.77, coherence is 2.00 2020-12-09T06:41:11Z- handleDepth()-Depth_Keller msg: 50.70 epoch sec; seqNo:1607496071090; depth 0.00 2020-12-09T06:41:11Z- waiting for 1607496072.07, time is 1607496070.32 2020-12-09T06:41:11Z- sync is 0.77, coherence is 2.00 2020-12-09T06:41:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496071.10 epoch sec; seqNo:1712; 4061665.19 north; 594321.00 east 2020-12-09T06:41:11Z- waiting for 1607496072.07, time is 1607496070.32 2020-12-09T06:41:11Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:11Z- AHRS_M2 msg: 1607496071.50 epoch sec; seqNo:1659 2020-12-09T06:41:11Z- AHRS_M2 msg: 1.41 phi; -0.03 theta; -0.19 psi 2020-12-09T06:41:11Z- waiting for 1607496072.07, time is 1607496070.32 2020-12-09T06:41:11Z- sync is 1.18, coherence is 2.00 2020-12-09T06:41:11Z- handleDepth()-Depth_Keller msg: 50.74 epoch sec; seqNo:1607496071507; depth 0.00 2020-12-09T06:41:11Z- waiting for 1607496072.07, time is 1607496070.32 2020-12-09T06:41:11Z- sync is 1.18, coherence is 2.00 2020-12-09T06:41:11Z- handleDvl() - RDI_Pathfinder msg: 1607496071.52 epoch sec; seqNo:950 2020-12-09T06:41:11Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.36 , 46.02 , 36.67 , 43.40 2020-12-09T06:41:11Z- handleDvl() - RDI_Pathfinder msg: velocities 1.15 , 0.00 , 0.08 2020-12-09T06:41:11Z- waiting for 1607496072.07, time is 1607496071.52 2020-12-09T06:41:11Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496071.54 epoch sec; seqNo:1713; 4061665.20 north; 594322.22 east 2020-12-09T06:41:11Z- waiting for 1607496072.07, time is 1607496071.52 2020-12-09T06:41:11Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:11Z- AHRS_M2 msg: 1607496071.89 epoch sec; seqNo:1660 2020-12-09T06:41:11Z- AHRS_M2 msg: 1.41 phi; -0.03 theta; -0.18 psi 2020-12-09T06:41:11Z- waiting for 1607496072.07, time is 1607496071.52 2020-12-09T06:41:11Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:11Z- handleDepth()-Depth_Keller msg: 50.75 epoch sec; seqNo:1607496071899; depth 0.00 2020-12-09T06:41:11Z- waiting for 1607496072.07, time is 1607496071.52 2020-12-09T06:41:11Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:11Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496071.91 epoch sec; seqNo:1714; 4061665.58 north; 594322.22 east 2020-12-09T06:41:11Z- waiting for 1607496072.07, time is 1607496071.52 2020-12-09T06:41:11Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:12Z- AHRS_M2 msg: 1607496072.31 epoch sec; seqNo:1661 2020-12-09T06:41:12Z- AHRS_M2 msg: 1.41 phi; -0.02 theta; -0.18 psi 2020-12-09T06:41:12Z- waiting for 1607496072.07, time is 1607496071.52 2020-12-09T06:41:12Z- sync is 0.79, coherence is 2.00 2020-12-09T06:41:12Z- handleDepth()-Depth_Keller msg: 50.77 epoch sec; seqNo:1607496072317; depth 0.00 2020-12-09T06:41:12Z- waiting for 1607496072.07, time is 1607496071.52 2020-12-09T06:41:12Z- sync is 0.79, coherence is 2.00 2020-12-09T06:41:12Z- handleDvl() - RDI_Pathfinder msg: 1607496072.33 epoch sec; seqNo:951 2020-12-09T06:41:12Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.73 , 45.84 , 36.67 , 42.65 2020-12-09T06:41:12Z- handleDvl() - RDI_Pathfinder msg: velocities 1.19 , 0.04 , 0.02 2020-12-09T06:41:12Z- waiting for 1607496072.07, time is 1607496072.33 2020-12-09T06:41:12Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:12Z- LcmTrn::updateTrn() >>>> pose time 1607496072.31, meas time 1607496072.33 <<<< 2020-12-09T06:41:12Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607496072.33 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:41:12Z- TerrainNav::motionUpdate() - currEstimate = (4061666, 594322.22, 50.77) 2020-12-09T06:41:12Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:41:12Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:41:12Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:41:12Z- TNavBF::mmse selected from filter -1 2020-12-09T06:41:12Z- variances([0], [2], and psi_berg) = 785.932116 833.076679 0.000000 2020-12-09T06:41:12Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:41:12Z- LcmTrn::cycle() - MLE : 4061640.08 594276.72 50.77 2020-12-09T06:41:12Z- LcmTrn::cycle() - MMSE : 4061665.58 594322.22 50.77 2020-12-09T06:41:12Z- LcmTrn::cycle() - COVAR: 785.93 833.08 57.16 0.00 2020-12-09T06:41:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496072.35 epoch sec; seqNo:1715; 4061665.58 north; 594322.22 east 2020-12-09T06:41:12Z- waiting for 1607496075.33, time is 1607496072.33 2020-12-09T06:41:12Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:12Z- AHRS_M2 msg: 1607496072.70 epoch sec; seqNo:1662 2020-12-09T06:41:12Z- AHRS_M2 msg: 1.42 phi; -0.02 theta; -0.18 psi 2020-12-09T06:41:12Z- waiting for 1607496075.33, time is 1607496072.33 2020-12-09T06:41:12Z- sync is 0.37, coherence is 2.00 2020-12-09T06:41:12Z- handleDepth()-Depth_Keller msg: 50.79 epoch sec; seqNo:1607496072710; depth 0.00 2020-12-09T06:41:12Z- waiting for 1607496075.33, time is 1607496072.33 2020-12-09T06:41:12Z- sync is 0.37, coherence is 2.00 2020-12-09T06:41:12Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496072.72 epoch sec; seqNo:1716; 4061665.60 north; 594323.44 east 2020-12-09T06:41:12Z- waiting for 1607496075.33, time is 1607496072.33 2020-12-09T06:41:12Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:13Z- AHRS_M2 msg: 1607496073.11 epoch sec; seqNo:1663 2020-12-09T06:41:13Z- AHRS_M2 msg: 1.42 phi; -0.02 theta; -0.18 psi 2020-12-09T06:41:13Z- waiting for 1607496075.33, time is 1607496072.33 2020-12-09T06:41:13Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:13Z- handleDepth()-Depth_Keller msg: 50.80 epoch sec; seqNo:1607496073116; depth 0.00 2020-12-09T06:41:13Z- waiting for 1607496075.33, time is 1607496072.33 2020-12-09T06:41:13Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496073.13 epoch sec; seqNo:1717; 4061665.60 north; 594323.44 east 2020-12-09T06:41:13Z- waiting for 1607496075.33, time is 1607496072.33 2020-12-09T06:41:13Z- sync is 0.80, coherence is 2.00 2020-12-09T06:41:13Z- AHRS_M2 msg: 1607496073.51 epoch sec; seqNo:1664 2020-12-09T06:41:13Z- AHRS_M2 msg: 1.43 phi; -0.02 theta; -0.18 psi 2020-12-09T06:41:13Z- waiting for 1607496075.33, time is 1607496072.33 2020-12-09T06:41:13Z- sync is 1.18, coherence is 2.00 2020-12-09T06:41:13Z- handleDepth()-Depth_Keller msg: 50.82 epoch sec; seqNo:1607496073522; depth 0.00 2020-12-09T06:41:13Z- waiting for 1607496075.33, time is 1607496072.33 2020-12-09T06:41:13Z- sync is 1.18, coherence is 2.00 2020-12-09T06:41:13Z- handleDvl() - RDI_Pathfinder msg: 1607496073.54 epoch sec; seqNo:952 2020-12-09T06:41:13Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.55 , 45.09 , 36.11 , 42.28 2020-12-09T06:41:13Z- handleDvl() - RDI_Pathfinder msg: velocities 1.16 , 0.04 , -0.05 2020-12-09T06:41:13Z- waiting for 1607496075.33, time is 1607496073.54 2020-12-09T06:41:13Z- sync is 0.03, coherence is 2.00 2020-12-09T06:41:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496073.55 epoch sec; seqNo:1718; 4061665.60 north; 594323.44 east 2020-12-09T06:41:13Z- waiting for 1607496075.33, time is 1607496073.54 2020-12-09T06:41:13Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:13Z- AHRS_M2 msg: 1607496073.91 epoch sec; seqNo:1665 2020-12-09T06:41:13Z- AHRS_M2 msg: 1.43 phi; -0.02 theta; -0.17 psi 2020-12-09T06:41:13Z- waiting for 1607496075.33, time is 1607496073.54 2020-12-09T06:41:13Z- sync is 0.37, coherence is 2.00 2020-12-09T06:41:13Z- handleDepth()-Depth_Keller msg: 50.82 epoch sec; seqNo:1607496073918; depth 0.00 2020-12-09T06:41:13Z- waiting for 1607496075.33, time is 1607496073.54 2020-12-09T06:41:13Z- sync is 0.37, coherence is 2.00 2020-12-09T06:41:13Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496073.94 epoch sec; seqNo:1719; 4061665.61 north; 594324.66 east 2020-12-09T06:41:13Z- waiting for 1607496075.33, time is 1607496073.54 2020-12-09T06:41:13Z- sync is 0.40, coherence is 2.00 2020-12-09T06:41:14Z- handleDepth()-Depth_Keller msg: 50.80 epoch sec; seqNo:1607496074338; depth 0.00 2020-12-09T06:41:14Z- waiting for 1607496075.33, time is 1607496073.54 2020-12-09T06:41:14Z- sync is 0.40, coherence is 2.00 2020-12-09T06:41:14Z- handleDvl() - RDI_Pathfinder msg: 1607496074.36 epoch sec; seqNo:953 2020-12-09T06:41:14Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.17 , 44.90 , 36.11 , 41.72 2020-12-09T06:41:14Z- handleDvl() - RDI_Pathfinder msg: velocities 1.12 , 0.03 , -0.11 2020-12-09T06:41:14Z- waiting for 1607496075.33, time is 1607496074.36 2020-12-09T06:41:14Z- sync is 0.42, coherence is 2.00 2020-12-09T06:41:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496074.37 epoch sec; seqNo:1720; 4061665.61 north; 594324.66 east 2020-12-09T06:41:14Z- waiting for 1607496075.33, time is 1607496074.36 2020-12-09T06:41:14Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:14Z- AHRS_M2 msg: 1607496074.72 epoch sec; seqNo:1666 2020-12-09T06:41:14Z- AHRS_M2 msg: 1.44 phi; -0.01 theta; -0.17 psi 2020-12-09T06:41:14Z- waiting for 1607496075.33, time is 1607496074.36 2020-12-09T06:41:14Z- sync is 0.37, coherence is 2.00 2020-12-09T06:41:14Z- handleDepth()-Depth_Keller msg: 50.78 epoch sec; seqNo:1607496074729; depth 0.00 2020-12-09T06:41:14Z- waiting for 1607496075.33, time is 1607496074.36 2020-12-09T06:41:14Z- sync is 0.37, coherence is 2.00 2020-12-09T06:41:14Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496074.74 epoch sec; seqNo:1721; 4061666.00 north; 594325.88 east 2020-12-09T06:41:14Z- waiting for 1607496075.33, time is 1607496074.36 2020-12-09T06:41:14Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:15Z- AHRS_M2 msg: 1607496075.13 epoch sec; seqNo:1667 2020-12-09T06:41:15Z- AHRS_M2 msg: 1.45 phi; -0.01 theta; -0.17 psi 2020-12-09T06:41:15Z- waiting for 1607496075.33, time is 1607496074.36 2020-12-09T06:41:15Z- sync is 0.77, coherence is 2.00 2020-12-09T06:41:15Z- handleDepth()-Depth_Keller msg: 50.77 epoch sec; seqNo:1607496075131; depth 0.00 2020-12-09T06:41:15Z- waiting for 1607496075.33, time is 1607496074.36 2020-12-09T06:41:15Z- sync is 0.77, coherence is 2.00 2020-12-09T06:41:15Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:15Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:15Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:15Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:41:15Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:41:15Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:41:15Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:41:15Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:41:15Z- handleDvl() - RDI_Pathfinder msg: 1607496075.13 epoch sec; seqNo:954 2020-12-09T06:41:15Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:41:15Z- handleDvl() - RDI_Pathfinder msg: velocities 1.12 , 0.03 , -0.11 2020-12-09T06:41:15Z- waiting for 1607496075.33, time is 1607496075.13 2020-12-09T06:41:15Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496075.14 epoch sec; seqNo:1722; 4061666.00 north; 594325.88 east 2020-12-09T06:41:15Z- waiting for 1607496075.33, time is 1607496075.13 2020-12-09T06:41:15Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:15Z- AHRS_M2 msg: 1607496075.53 epoch sec; seqNo:1668 2020-12-09T06:41:15Z- AHRS_M2 msg: 1.46 phi; -0.01 theta; -0.17 psi 2020-12-09T06:41:15Z- waiting for 1607496075.33, time is 1607496075.13 2020-12-09T06:41:15Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:15Z- handleDepth()-Depth_Keller msg: 50.77 epoch sec; seqNo:1607496075532; depth 0.00 2020-12-09T06:41:15Z- waiting for 1607496075.33, time is 1607496075.13 2020-12-09T06:41:15Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:15Z- handleDvl() - RDI_Pathfinder msg: 1607496075.56 epoch sec; seqNo:955 2020-12-09T06:41:15Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 35.17 , 45.09 , 35.73 , 41.72 2020-12-09T06:41:15Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , 0.00 , -0.14 2020-12-09T06:41:15Z- waiting for 1607496075.33, time is 1607496075.56 2020-12-09T06:41:15Z- sync is 0.03, coherence is 2.00 2020-12-09T06:41:15Z- LcmTrn::updateTrn() >>>> pose time 1607496075.53, meas time 1607496075.56 <<<< 2020-12-09T06:41:15Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607496075.56 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:41:15Z- TerrainNav::motionUpdate() - currEstimate = (4061666, 594325.88, 50.77) 2020-12-09T06:41:15Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:41:15Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:41:15Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:41:15Z- TNavBF::mmse selected from filter -1 2020-12-09T06:41:15Z- variances([0], [2], and psi_berg) = 785.769465 833.076419 0.000000 2020-12-09T06:41:15Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:41:15Z- LcmTrn::cycle() - MLE : 4061640.50 594280.38 50.77 2020-12-09T06:41:15Z- LcmTrn::cycle() - MMSE : 4061666.00 594325.88 50.77 2020-12-09T06:41:15Z- LcmTrn::cycle() - COVAR: 785.77 833.08 57.35 0.00 2020-12-09T06:41:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496075.57 epoch sec; seqNo:1723; 4061666.00 north; 594325.88 east 2020-12-09T06:41:15Z- waiting for 1607496078.56, time is 1607496075.56 2020-12-09T06:41:15Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:15Z- handleDepth()-Depth_Keller msg: 50.74 epoch sec; seqNo:1607496075955; depth 0.00 2020-12-09T06:41:15Z- waiting for 1607496078.56, time is 1607496075.56 2020-12-09T06:41:15Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:15Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496075.97 epoch sec; seqNo:1724; 4061666.01 north; 594327.10 east 2020-12-09T06:41:15Z- waiting for 1607496078.56, time is 1607496075.56 2020-12-09T06:41:15Z- sync is 0.41, coherence is 2.00 2020-12-09T06:41:16Z- AHRS_M2 msg: 1607496076.34 epoch sec; seqNo:1669 2020-12-09T06:41:16Z- AHRS_M2 msg: 1.47 phi; -0.01 theta; -0.17 psi 2020-12-09T06:41:16Z- waiting for 1607496078.56, time is 1607496075.56 2020-12-09T06:41:16Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:16Z- handleDepth()-Depth_Keller msg: 50.73 epoch sec; seqNo:1607496076347; depth 0.00 2020-12-09T06:41:16Z- waiting for 1607496078.56, time is 1607496075.56 2020-12-09T06:41:16Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:16Z- handleDvl() - RDI_Pathfinder msg: 1607496076.36 epoch sec; seqNo:956 2020-12-09T06:41:16Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.99 , 44.90 , 35.73 , 40.97 2020-12-09T06:41:16Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.04 , -0.15 2020-12-09T06:41:16Z- waiting for 1607496078.56, time is 1607496076.36 2020-12-09T06:41:16Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496076.39 epoch sec; seqNo:1725; 4061666.01 north; 594327.10 east 2020-12-09T06:41:16Z- waiting for 1607496078.56, time is 1607496076.36 2020-12-09T06:41:16Z- sync is 0.03, coherence is 2.00 2020-12-09T06:41:16Z- AHRS_M2 msg: 1607496076.75 epoch sec; seqNo:1670 2020-12-09T06:41:16Z- AHRS_M2 msg: 1.47 phi; -0.01 theta; -0.17 psi 2020-12-09T06:41:16Z- waiting for 1607496078.56, time is 1607496076.36 2020-12-09T06:41:16Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:16Z- handleDepth()-Depth_Keller msg: 50.70 epoch sec; seqNo:1607496076755; depth 0.00 2020-12-09T06:41:16Z- waiting for 1607496078.56, time is 1607496076.36 2020-12-09T06:41:16Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:16Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496076.77 epoch sec; seqNo:1726; 4061666.01 north; 594327.10 east 2020-12-09T06:41:16Z- waiting for 1607496078.56, time is 1607496076.36 2020-12-09T06:41:16Z- sync is 0.41, coherence is 2.00 2020-12-09T06:41:17Z- AHRS_M2 msg: 1607496077.14 epoch sec; seqNo:1671 2020-12-09T06:41:17Z- AHRS_M2 msg: 1.47 phi; -0.01 theta; -0.18 psi 2020-12-09T06:41:17Z- waiting for 1607496078.56, time is 1607496076.36 2020-12-09T06:41:17Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:17Z- handleDepth()-Depth_Keller msg: 50.69 epoch sec; seqNo:1607496077150; depth 0.00 2020-12-09T06:41:17Z- waiting for 1607496078.56, time is 1607496076.36 2020-12-09T06:41:17Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496077.17 epoch sec; seqNo:1727; 4061666.41 north; 594328.31 east 2020-12-09T06:41:17Z- waiting for 1607496078.56, time is 1607496076.36 2020-12-09T06:41:17Z- sync is 0.81, coherence is 2.00 2020-12-09T06:41:17Z- AHRS_M2 msg: 1607496077.56 epoch sec; seqNo:1672 2020-12-09T06:41:17Z- AHRS_M2 msg: 1.47 phi; -0.00 theta; -0.18 psi 2020-12-09T06:41:17Z- waiting for 1607496078.56, time is 1607496076.36 2020-12-09T06:41:17Z- sync is 1.19, coherence is 2.00 2020-12-09T06:41:17Z- handleDepth()-Depth_Keller msg: 50.67 epoch sec; seqNo:1607496077560; depth 0.00 2020-12-09T06:41:17Z- waiting for 1607496078.56, time is 1607496076.36 2020-12-09T06:41:17Z- sync is 1.19, coherence is 2.00 2020-12-09T06:41:17Z- handleDvl() - RDI_Pathfinder msg: 1607496077.57 epoch sec; seqNo:957 2020-12-09T06:41:17Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.61 , 44.90 , 35.36 , 40.79 2020-12-09T06:41:17Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.08 , -0.13 2020-12-09T06:41:17Z- waiting for 1607496078.56, time is 1607496077.57 2020-12-09T06:41:17Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496077.60 epoch sec; seqNo:1728; 4061666.41 north; 594328.31 east 2020-12-09T06:41:17Z- waiting for 1607496078.56, time is 1607496077.57 2020-12-09T06:41:17Z- sync is 0.03, coherence is 2.00 2020-12-09T06:41:17Z- handleDepth()-Depth_Keller msg: 50.66 epoch sec; seqNo:1607496078010; depth 0.00 2020-12-09T06:41:17Z- waiting for 1607496078.56, time is 1607496077.57 2020-12-09T06:41:17Z- sync is 0.03, coherence is 2.00 2020-12-09T06:41:17Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496078.02 epoch sec; seqNo:1729; 4061666.41 north; 594328.31 east 2020-12-09T06:41:17Z- waiting for 1607496078.56, time is 1607496077.57 2020-12-09T06:41:17Z- sync is 0.45, coherence is 2.00 2020-12-09T06:41:18Z- AHRS_M2 msg: 1607496078.36 epoch sec; seqNo:1673 2020-12-09T06:41:18Z- AHRS_M2 msg: 1.47 phi; -0.00 theta; -0.19 psi 2020-12-09T06:41:18Z- waiting for 1607496078.56, time is 1607496077.57 2020-12-09T06:41:18Z- sync is 0.79, coherence is 2.00 2020-12-09T06:41:18Z- handleDepth()-Depth_Keller msg: 50.64 epoch sec; seqNo:1607496078371; depth 0.00 2020-12-09T06:41:18Z- waiting for 1607496078.56, time is 1607496077.57 2020-12-09T06:41:18Z- sync is 0.79, coherence is 2.00 2020-12-09T06:41:18Z- handleDvl() - RDI_Pathfinder msg: 1607496078.38 epoch sec; seqNo:958 2020-12-09T06:41:18Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.24 , 45.28 , 34.99 , 40.79 2020-12-09T06:41:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.11 , -0.07 2020-12-09T06:41:18Z- waiting for 1607496078.56, time is 1607496078.38 2020-12-09T06:41:18Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496078.39 epoch sec; seqNo:1730; 4061666.41 north; 594328.31 east 2020-12-09T06:41:18Z- waiting for 1607496078.56, time is 1607496078.38 2020-12-09T06:41:18Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:18Z- AHRS_M2 msg: 1607496078.76 epoch sec; seqNo:1674 2020-12-09T06:41:18Z- AHRS_M2 msg: 1.47 phi; -0.00 theta; -0.19 psi 2020-12-09T06:41:18Z- waiting for 1607496078.56, time is 1607496078.38 2020-12-09T06:41:18Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:18Z- handleDepth()-Depth_Keller msg: 50.62 epoch sec; seqNo:1607496078768; depth 0.00 2020-12-09T06:41:18Z- waiting for 1607496078.56, time is 1607496078.38 2020-12-09T06:41:18Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:18Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:18Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:18Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:18Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:41:18Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:41:18Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:41:18Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:41:18Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:41:18Z- handleDvl() - RDI_Pathfinder msg: 1607496078.77 epoch sec; seqNo:959 2020-12-09T06:41:18Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:41:18Z- handleDvl() - RDI_Pathfinder msg: velocities 0.84 , -0.11 , -0.07 2020-12-09T06:41:18Z- waiting for 1607496078.56, time is 1607496078.77 2020-12-09T06:41:18Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:18Z- LcmTrn::updateTrn() >>>> pose time 1607496078.76, meas time 1607496078.77 <<<< 2020-12-09T06:41:18Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607496078.77, ping # 0. 2020-12-09T06:41:18Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607496078.77 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:41:18Z- TerrainNav::motionUpdate() - currEstimate = (4061666, 594328.31, 50.62) 2020-12-09T06:41:18Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:41:18Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:41:18Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:41:18Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:41:18Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:41:18Z- TNavBF::mmse selected from filter -1 2020-12-09T06:41:18Z- variances([0], [2], and psi_berg) = 785.636625 833.076207 0.000000 2020-12-09T06:41:18Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:41:18Z- LcmTrn::cycle() - MLE : 4061640.91 594282.81 50.62 2020-12-09T06:41:18Z- LcmTrn::cycle() - MMSE : 4061666.41 594328.31 50.62 2020-12-09T06:41:18Z- LcmTrn::cycle() - COVAR: 785.64 833.08 57.48 0.00 2020-12-09T06:41:18Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496078.80 epoch sec; seqNo:1731; 4061666.42 north; 594329.53 east 2020-12-09T06:41:18Z- waiting for 1607496081.77, time is 1607496078.77 2020-12-09T06:41:18Z- sync is 0.03, coherence is 2.00 2020-12-09T06:41:19Z- AHRS_M2 msg: 1607496079.16 epoch sec; seqNo:1675 2020-12-09T06:41:19Z- AHRS_M2 msg: 1.47 phi; -0.00 theta; -0.20 psi 2020-12-09T06:41:19Z- waiting for 1607496081.77, time is 1607496078.77 2020-12-09T06:41:19Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:19Z- handleDepth()-Depth_Keller msg: 50.62 epoch sec; seqNo:1607496079174; depth 0.00 2020-12-09T06:41:19Z- waiting for 1607496081.77, time is 1607496078.77 2020-12-09T06:41:19Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496079.18 epoch sec; seqNo:1732; 4061666.80 north; 594329.53 east 2020-12-09T06:41:19Z- waiting for 1607496081.77, time is 1607496078.77 2020-12-09T06:41:19Z- sync is 0.41, coherence is 2.00 2020-12-09T06:41:19Z- AHRS_M2 msg: 1607496079.57 epoch sec; seqNo:1676 2020-12-09T06:41:19Z- AHRS_M2 msg: 1.47 phi; 0.00 theta; -0.20 psi 2020-12-09T06:41:19Z- waiting for 1607496081.77, time is 1607496078.77 2020-12-09T06:41:19Z- sync is 0.80, coherence is 2.00 2020-12-09T06:41:19Z- handleDepth()-Depth_Keller msg: 50.62 epoch sec; seqNo:1607496079573; depth 0.00 2020-12-09T06:41:19Z- waiting for 1607496081.77, time is 1607496078.77 2020-12-09T06:41:19Z- sync is 0.80, coherence is 2.00 2020-12-09T06:41:19Z- handleDvl() - RDI_Pathfinder msg: 1607496079.59 epoch sec; seqNo:960 2020-12-09T06:41:19Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.05 , 45.65 , 34.99 , 40.97 2020-12-09T06:41:19Z- handleDvl() - RDI_Pathfinder msg: velocities 0.82 , -0.13 , 0.00 2020-12-09T06:41:19Z- waiting for 1607496081.77, time is 1607496079.59 2020-12-09T06:41:19Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496079.60 epoch sec; seqNo:1733; 4061666.80 north; 594329.53 east 2020-12-09T06:41:19Z- waiting for 1607496081.77, time is 1607496079.59 2020-12-09T06:41:19Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:19Z- AHRS_M2 msg: 1607496079.97 epoch sec; seqNo:1677 2020-12-09T06:41:19Z- AHRS_M2 msg: 1.46 phi; 0.00 theta; -0.20 psi 2020-12-09T06:41:19Z- waiting for 1607496081.77, time is 1607496079.59 2020-12-09T06:41:19Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:19Z- handleDepth()-Depth_Keller msg: 50.61 epoch sec; seqNo:1607496079983; depth 0.00 2020-12-09T06:41:19Z- waiting for 1607496081.77, time is 1607496079.59 2020-12-09T06:41:19Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:19Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496080.00 epoch sec; seqNo:1734; 4061666.80 north; 594329.53 east 2020-12-09T06:41:19Z- waiting for 1607496081.77, time is 1607496079.59 2020-12-09T06:41:19Z- sync is 0.41, coherence is 2.00 2020-12-09T06:41:20Z- AHRS_M2 msg: 1607496080.38 epoch sec; seqNo:1678 2020-12-09T06:41:20Z- AHRS_M2 msg: 1.46 phi; 0.00 theta; -0.21 psi 2020-12-09T06:41:20Z- waiting for 1607496081.77, time is 1607496079.59 2020-12-09T06:41:20Z- sync is 0.79, coherence is 2.00 2020-12-09T06:41:20Z- handleDepth()-Depth_Keller msg: 50.60 epoch sec; seqNo:1607496080386; depth 0.00 2020-12-09T06:41:20Z- waiting for 1607496081.77, time is 1607496079.59 2020-12-09T06:41:20Z- sync is 0.79, coherence is 2.00 2020-12-09T06:41:20Z- handleDvl() - RDI_Pathfinder msg: 1607496080.40 epoch sec; seqNo:961 2020-12-09T06:41:20Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.49 , 46.21 , 34.61 , 40.78 2020-12-09T06:41:20Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.12 , 0.06 2020-12-09T06:41:20Z- waiting for 1607496081.77, time is 1607496080.40 2020-12-09T06:41:20Z- sync is 0.03, coherence is 2.00 2020-12-09T06:41:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496080.42 epoch sec; seqNo:1735; 4061666.81 north; 594330.75 east 2020-12-09T06:41:20Z- waiting for 1607496081.77, time is 1607496080.40 2020-12-09T06:41:20Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:20Z- AHRS_M2 msg: 1607496080.78 epoch sec; seqNo:1679 2020-12-09T06:41:20Z- AHRS_M2 msg: 1.46 phi; 0.00 theta; -0.21 psi 2020-12-09T06:41:20Z- waiting for 1607496081.77, time is 1607496080.40 2020-12-09T06:41:20Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:20Z- handleDepth()-Depth_Keller msg: 50.63 epoch sec; seqNo:1607496080794; depth 0.00 2020-12-09T06:41:20Z- waiting for 1607496081.77, time is 1607496080.40 2020-12-09T06:41:20Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:20Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496080.81 epoch sec; seqNo:1736; 4061666.81 north; 594330.75 east 2020-12-09T06:41:20Z- waiting for 1607496081.77, time is 1607496080.40 2020-12-09T06:41:20Z- sync is 0.40, coherence is 2.00 2020-12-09T06:41:21Z- AHRS_M2 msg: 1607496081.19 epoch sec; seqNo:1680 2020-12-09T06:41:21Z- AHRS_M2 msg: 1.45 phi; 0.00 theta; -0.21 psi 2020-12-09T06:41:21Z- waiting for 1607496081.77, time is 1607496080.40 2020-12-09T06:41:21Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:21Z- handleDepth()-Depth_Keller msg: 50.61 epoch sec; seqNo:1607496081190; depth 0.00 2020-12-09T06:41:21Z- waiting for 1607496081.77, time is 1607496080.40 2020-12-09T06:41:21Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:21Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:21Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:21Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:21Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:41:21Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:41:21Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:41:21Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:41:21Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:41:21Z- handleDvl() - RDI_Pathfinder msg: 1607496081.19 epoch sec; seqNo:962 2020-12-09T06:41:21Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:41:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.85 , -0.12 , 0.06 2020-12-09T06:41:21Z- waiting for 1607496081.77, time is 1607496081.19 2020-12-09T06:41:21Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496081.20 epoch sec; seqNo:1737; 4061667.19 north; 594330.75 east 2020-12-09T06:41:21Z- waiting for 1607496081.77, time is 1607496081.19 2020-12-09T06:41:21Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:21Z- AHRS_M2 msg: 1607496081.59 epoch sec; seqNo:1681 2020-12-09T06:41:21Z- AHRS_M2 msg: 1.45 phi; 0.01 theta; -0.21 psi 2020-12-09T06:41:21Z- waiting for 1607496081.77, time is 1607496081.19 2020-12-09T06:41:21Z- sync is 0.40, coherence is 2.00 2020-12-09T06:41:21Z- handleDepth()-Depth_Keller msg: 50.63 epoch sec; seqNo:1607496081603; depth 0.00 2020-12-09T06:41:21Z- waiting for 1607496081.77, time is 1607496081.19 2020-12-09T06:41:21Z- sync is 0.40, coherence is 2.00 2020-12-09T06:41:21Z- handleDvl() - RDI_Pathfinder msg: 1607496081.62 epoch sec; seqNo:963 2020-12-09T06:41:21Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.67 , 45.46 , 34.61 , 40.78 2020-12-09T06:41:21Z- handleDvl() - RDI_Pathfinder msg: velocities 0.88 , -0.12 , 0.11 2020-12-09T06:41:21Z- waiting for 1607496081.77, time is 1607496081.62 2020-12-09T06:41:21Z- sync is 0.03, coherence is 2.00 2020-12-09T06:41:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496081.63 epoch sec; seqNo:1738; 4061667.21 north; 594331.97 east 2020-12-09T06:41:21Z- waiting for 1607496081.77, time is 1607496081.62 2020-12-09T06:41:21Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:21Z- AHRS_M2 msg: 1607496081.99 epoch sec; seqNo:1682 2020-12-09T06:41:21Z- AHRS_M2 msg: 1.45 phi; 0.01 theta; -0.21 psi 2020-12-09T06:41:21Z- waiting for 1607496081.77, time is 1607496081.62 2020-12-09T06:41:21Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:21Z- handleDepth()-Depth_Keller msg: 50.66 epoch sec; seqNo:1607496081998; depth 0.00 2020-12-09T06:41:21Z- waiting for 1607496081.77, time is 1607496081.62 2020-12-09T06:41:21Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:21Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496082.02 epoch sec; seqNo:1739; 4061667.21 north; 594331.97 east 2020-12-09T06:41:21Z- waiting for 1607496081.77, time is 1607496081.62 2020-12-09T06:41:21Z- sync is 0.40, coherence is 2.00 2020-12-09T06:41:22Z- AHRS_M2 msg: 1607496082.40 epoch sec; seqNo:1683 2020-12-09T06:41:22Z- AHRS_M2 msg: 1.44 phi; 0.01 theta; -0.21 psi 2020-12-09T06:41:22Z- waiting for 1607496081.77, time is 1607496081.62 2020-12-09T06:41:22Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:22Z- handleDepth()-Depth_Keller msg: 50.64 epoch sec; seqNo:1607496082402; depth 0.00 2020-12-09T06:41:22Z- waiting for 1607496081.77, time is 1607496081.62 2020-12-09T06:41:22Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:22Z- handleDvl() - RDI_Pathfinder msg: 1607496082.41 epoch sec; seqNo:964 2020-12-09T06:41:22Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.05 , 45.65 , 34.80 , 41.16 2020-12-09T06:41:22Z- handleDvl() - RDI_Pathfinder msg: velocities 0.94 , -0.09 , 0.14 2020-12-09T06:41:22Z- waiting for 1607496081.77, time is 1607496082.41 2020-12-09T06:41:22Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:22Z- LcmTrn::updateTrn() >>>> pose time 1607496082.40, meas time 1607496082.41 <<<< 2020-12-09T06:41:22Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607496082.41 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:41:22Z- TerrainNav::motionUpdate() - currEstimate = (4061667, 594331.97, 50.64) 2020-12-09T06:41:22Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:41:22Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:41:22Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:41:22Z- TNavBF::mmse selected from filter -1 2020-12-09T06:41:22Z- variances([0], [2], and psi_berg) = 785.473585 833.075947 0.000000 2020-12-09T06:41:22Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:41:22Z- LcmTrn::cycle() - MLE : 4061641.71 594286.47 50.64 2020-12-09T06:41:22Z- LcmTrn::cycle() - MMSE : 4061667.21 594331.97 50.64 2020-12-09T06:41:22Z- LcmTrn::cycle() - COVAR: 785.47 833.08 57.67 0.00 2020-12-09T06:41:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496082.44 epoch sec; seqNo:1740; 4061667.21 north; 594331.97 east 2020-12-09T06:41:22Z- waiting for 1607496085.41, time is 1607496082.41 2020-12-09T06:41:22Z- sync is 0.03, coherence is 2.00 2020-12-09T06:41:22Z- AHRS_M2 msg: 1607496082.80 epoch sec; seqNo:1684 2020-12-09T06:41:22Z- AHRS_M2 msg: 1.44 phi; 0.01 theta; -0.22 psi 2020-12-09T06:41:22Z- waiting for 1607496085.41, time is 1607496082.41 2020-12-09T06:41:22Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:22Z- handleDepth()-Depth_Keller msg: 50.66 epoch sec; seqNo:1607496082807; depth 0.00 2020-12-09T06:41:22Z- waiting for 1607496085.41, time is 1607496082.41 2020-12-09T06:41:22Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:22Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496082.82 epoch sec; seqNo:1741; 4061667.21 north; 594331.97 east 2020-12-09T06:41:22Z- waiting for 1607496085.41, time is 1607496082.41 2020-12-09T06:41:22Z- sync is 0.41, coherence is 2.00 2020-12-09T06:41:23Z- AHRS_M2 msg: 1607496083.21 epoch sec; seqNo:1685 2020-12-09T06:41:23Z- AHRS_M2 msg: 1.44 phi; 0.01 theta; -0.22 psi 2020-12-09T06:41:23Z- waiting for 1607496085.41, time is 1607496082.41 2020-12-09T06:41:23Z- sync is 0.79, coherence is 2.00 2020-12-09T06:41:23Z- handleDepth()-Depth_Keller msg: 50.69 epoch sec; seqNo:1607496083222; depth 0.00 2020-12-09T06:41:23Z- waiting for 1607496085.41, time is 1607496082.41 2020-12-09T06:41:23Z- sync is 0.79, coherence is 2.00 2020-12-09T06:41:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496083.23 epoch sec; seqNo:1742; 4061667.60 north; 594333.18 east 2020-12-09T06:41:23Z- waiting for 1607496085.41, time is 1607496082.41 2020-12-09T06:41:23Z- sync is 0.82, coherence is 2.00 2020-12-09T06:41:23Z- AHRS_M2 msg: 1607496083.61 epoch sec; seqNo:1686 2020-12-09T06:41:23Z- AHRS_M2 msg: 1.44 phi; 0.01 theta; -0.22 psi 2020-12-09T06:41:23Z- waiting for 1607496085.41, time is 1607496082.41 2020-12-09T06:41:23Z- sync is 1.20, coherence is 2.00 2020-12-09T06:41:23Z- handleDepth()-Depth_Keller msg: 50.71 epoch sec; seqNo:1607496083619; depth 0.00 2020-12-09T06:41:23Z- waiting for 1607496085.41, time is 1607496082.41 2020-12-09T06:41:23Z- sync is 1.20, coherence is 2.00 2020-12-09T06:41:23Z- handleDvl() - RDI_Pathfinder msg: 1607496083.64 epoch sec; seqNo:965 2020-12-09T06:41:23Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.86 , 45.84 , 34.61 , 40.97 2020-12-09T06:41:23Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.08 , 0.14 2020-12-09T06:41:23Z- waiting for 1607496085.41, time is 1607496083.64 2020-12-09T06:41:23Z- sync is 0.03, coherence is 2.00 2020-12-09T06:41:23Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496083.65 epoch sec; seqNo:1743; 4061667.60 north; 594333.18 east 2020-12-09T06:41:23Z- waiting for 1607496085.41, time is 1607496083.64 2020-12-09T06:41:23Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:23Z- AHRS_M2 msg: 1607496084.03 epoch sec; seqNo:1687 2020-12-09T06:41:23Z- AHRS_M2 msg: 1.44 phi; 0.01 theta; -0.22 psi 2020-12-09T06:41:23Z- waiting for 1607496085.41, time is 1607496083.64 2020-12-09T06:41:23Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:23Z- handleDepth()-Depth_Keller msg: 50.73 epoch sec; seqNo:1607496084062; depth 0.00 2020-12-09T06:41:23Z- waiting for 1607496085.41, time is 1607496083.64 2020-12-09T06:41:23Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496084.08 epoch sec; seqNo:1744; 4061667.60 north; 594333.18 east 2020-12-09T06:41:24Z- waiting for 1607496085.41, time is 1607496083.64 2020-12-09T06:41:24Z- sync is 0.44, coherence is 2.00 2020-12-09T06:41:24Z- AHRS_M2 msg: 1607496084.42 epoch sec; seqNo:1688 2020-12-09T06:41:24Z- AHRS_M2 msg: 1.44 phi; 0.01 theta; -0.22 psi 2020-12-09T06:41:24Z- waiting for 1607496085.41, time is 1607496083.64 2020-12-09T06:41:24Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:24Z- handleDepth()-Depth_Keller msg: 50.75 epoch sec; seqNo:1607496084423; depth 0.00 2020-12-09T06:41:24Z- waiting for 1607496085.41, time is 1607496083.64 2020-12-09T06:41:24Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:24Z- handleDvl() - RDI_Pathfinder msg: 1607496084.44 epoch sec; seqNo:966 2020-12-09T06:41:24Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.86 , 45.65 , 34.05 , 40.78 2020-12-09T06:41:24Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.05 , 0.11 2020-12-09T06:41:24Z- waiting for 1607496085.41, time is 1607496084.44 2020-12-09T06:41:24Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496084.45 epoch sec; seqNo:1745; 4061667.61 north; 594334.40 east 2020-12-09T06:41:24Z- waiting for 1607496085.41, time is 1607496084.44 2020-12-09T06:41:24Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:24Z- AHRS_M2 msg: 1607496084.82 epoch sec; seqNo:1689 2020-12-09T06:41:24Z- AHRS_M2 msg: 1.43 phi; 0.01 theta; -0.21 psi 2020-12-09T06:41:24Z- waiting for 1607496085.41, time is 1607496084.44 2020-12-09T06:41:24Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:24Z- handleDepth()-Depth_Keller msg: 50.77 epoch sec; seqNo:1607496084840; depth 0.00 2020-12-09T06:41:24Z- waiting for 1607496085.41, time is 1607496084.44 2020-12-09T06:41:24Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:24Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:24Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:24Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:24Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:41:24Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:41:24Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:41:24Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:41:24Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:41:24Z- handleDvl() - RDI_Pathfinder msg: 1607496084.84 epoch sec; seqNo:967 2020-12-09T06:41:24Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:41:24Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.05 , 0.11 2020-12-09T06:41:24Z- waiting for 1607496085.41, time is 1607496084.84 2020-12-09T06:41:24Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:24Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496084.86 epoch sec; seqNo:1746; 4061667.61 north; 594334.40 east 2020-12-09T06:41:24Z- waiting for 1607496085.41, time is 1607496084.84 2020-12-09T06:41:24Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:25Z- AHRS_M2 msg: 1607496085.22 epoch sec; seqNo:1690 2020-12-09T06:41:25Z- AHRS_M2 msg: 1.44 phi; 0.02 theta; -0.21 psi 2020-12-09T06:41:25Z- waiting for 1607496085.41, time is 1607496084.84 2020-12-09T06:41:25Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:25Z- handleDepth()-Depth_Keller msg: 50.77 epoch sec; seqNo:1607496085229; depth 0.00 2020-12-09T06:41:25Z- waiting for 1607496085.41, time is 1607496084.84 2020-12-09T06:41:25Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496085.24 epoch sec; seqNo:1747; 4061668.00 north; 594335.62 east 2020-12-09T06:41:25Z- waiting for 1607496085.41, time is 1607496084.84 2020-12-09T06:41:25Z- sync is 0.40, coherence is 2.00 2020-12-09T06:41:25Z- AHRS_M2 msg: 1607496085.63 epoch sec; seqNo:1691 2020-12-09T06:41:25Z- AHRS_M2 msg: 1.44 phi; 0.02 theta; -0.21 psi 2020-12-09T06:41:25Z- waiting for 1607496085.41, time is 1607496084.84 2020-12-09T06:41:25Z- sync is 0.79, coherence is 2.00 2020-12-09T06:41:25Z- handleDepth()-Depth_Keller msg: 50.79 epoch sec; seqNo:1607496085636; depth 0.00 2020-12-09T06:41:25Z- waiting for 1607496085.41, time is 1607496084.84 2020-12-09T06:41:25Z- sync is 0.79, coherence is 2.00 2020-12-09T06:41:25Z- handleDvl() - RDI_Pathfinder msg: 1607496085.65 epoch sec; seqNo:968 2020-12-09T06:41:25Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.05 , 46.03 , 33.49 , 38.36 2020-12-09T06:41:25Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , -0.05 , 0.07 2020-12-09T06:41:25Z- waiting for 1607496085.41, time is 1607496085.65 2020-12-09T06:41:25Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:25Z- LcmTrn::updateTrn() >>>> pose time 1607496085.63, meas time 1607496085.65 <<<< 2020-12-09T06:41:25Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607496085.65 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:41:25Z- TerrainNav::motionUpdate() - currEstimate = (4061668, 594335.62, 50.79) 2020-12-09T06:41:25Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:41:25Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:41:25Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:41:25Z- TNavBF::mmse selected from filter -1 2020-12-09T06:41:25Z- variances([0], [2], and psi_berg) = 785.311032 833.075689 0.000000 2020-12-09T06:41:25Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:41:25Z- LcmTrn::cycle() - MLE : 4061642.50 594290.12 50.79 2020-12-09T06:41:25Z- LcmTrn::cycle() - MMSE : 4061668.00 594335.62 50.79 2020-12-09T06:41:25Z- LcmTrn::cycle() - COVAR: 785.31 833.08 57.86 0.00 2020-12-09T06:41:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496085.67 epoch sec; seqNo:1748; 4061668.00 north; 594335.62 east 2020-12-09T06:41:25Z- waiting for 1607496088.65, time is 1607496085.65 2020-12-09T06:41:25Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:25Z- AHRS_M2 msg: 1607496086.04 epoch sec; seqNo:1692 2020-12-09T06:41:25Z- AHRS_M2 msg: 1.44 phi; 0.02 theta; -0.21 psi 2020-12-09T06:41:25Z- waiting for 1607496088.65, time is 1607496085.65 2020-12-09T06:41:25Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:25Z- handleDepth()-Depth_Keller msg: 50.80 epoch sec; seqNo:1607496086039; depth 0.00 2020-12-09T06:41:25Z- waiting for 1607496088.65, time is 1607496085.65 2020-12-09T06:41:25Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:25Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:25Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:25Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:25Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:41:25Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:41:25Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:41:25Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:41:25Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:41:25Z- handleDvl() - RDI_Pathfinder msg: 1607496086.04 epoch sec; seqNo:969 2020-12-09T06:41:25Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:41:25Z- handleDvl() - RDI_Pathfinder msg: velocities 1.09 , -0.05 , 0.07 2020-12-09T06:41:25Z- waiting for 1607496088.65, time is 1607496086.04 2020-12-09T06:41:25Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:25Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496086.05 epoch sec; seqNo:1749; 4061668.00 north; 594335.62 east 2020-12-09T06:41:25Z- waiting for 1607496088.65, time is 1607496086.04 2020-12-09T06:41:25Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:26Z- AHRS_M2 msg: 1607496086.44 epoch sec; seqNo:1693 2020-12-09T06:41:26Z- AHRS_M2 msg: 1.44 phi; 0.02 theta; -0.20 psi 2020-12-09T06:41:26Z- waiting for 1607496088.65, time is 1607496086.04 2020-12-09T06:41:26Z- sync is 0.40, coherence is 2.00 2020-12-09T06:41:26Z- handleDepth()-Depth_Keller msg: 50.81 epoch sec; seqNo:1607496086451; depth 0.00 2020-12-09T06:41:26Z- waiting for 1607496088.65, time is 1607496086.04 2020-12-09T06:41:26Z- sync is 0.40, coherence is 2.00 2020-12-09T06:41:26Z- handleDvl() - RDI_Pathfinder msg: 1607496086.46 epoch sec; seqNo:970 2020-12-09T06:41:26Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 34.19 , 45.92 , 33.17 , 38.44 2020-12-09T06:41:26Z- handleDvl() - RDI_Pathfinder msg: velocities 1.11 , -0.02 , 0.03 2020-12-09T06:41:26Z- waiting for 1607496088.65, time is 1607496086.46 2020-12-09T06:41:26Z- sync is 0.03, coherence is 2.00 2020-12-09T06:41:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496086.48 epoch sec; seqNo:1750; 4061668.02 north; 594336.84 east 2020-12-09T06:41:26Z- waiting for 1607496088.65, time is 1607496086.46 2020-12-09T06:41:26Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:26Z- AHRS_M2 msg: 1607496086.84 epoch sec; seqNo:1694 2020-12-09T06:41:26Z- AHRS_M2 msg: 1.44 phi; 0.02 theta; -0.20 psi 2020-12-09T06:41:26Z- waiting for 1607496088.65, time is 1607496086.46 2020-12-09T06:41:26Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:26Z- handleDepth()-Depth_Keller msg: 50.84 epoch sec; seqNo:1607496086850; depth 0.00 2020-12-09T06:41:26Z- waiting for 1607496088.65, time is 1607496086.46 2020-12-09T06:41:26Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:26Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496086.86 epoch sec; seqNo:1751; 4061668.02 north; 594336.84 east 2020-12-09T06:41:26Z- waiting for 1607496088.65, time is 1607496086.46 2020-12-09T06:41:26Z- sync is 0.40, coherence is 2.00 2020-12-09T06:41:27Z- AHRS_M2 msg: 1607496087.24 epoch sec; seqNo:1695 2020-12-09T06:41:27Z- AHRS_M2 msg: 1.45 phi; 0.02 theta; -0.20 psi 2020-12-09T06:41:27Z- waiting for 1607496088.65, time is 1607496086.46 2020-12-09T06:41:27Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:27Z- handleDepth()-Depth_Keller msg: 50.83 epoch sec; seqNo:1607496087259; depth 0.00 2020-12-09T06:41:27Z- waiting for 1607496088.65, time is 1607496086.46 2020-12-09T06:41:27Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:27Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:27Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:27Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:27Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:41:27Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:41:27Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:41:27Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:41:27Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:41:27Z- handleDvl() - RDI_Pathfinder msg: 1607496087.27 epoch sec; seqNo:971 2020-12-09T06:41:27Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:41:27Z- handleDvl() - RDI_Pathfinder msg: velocities 1.11 , -0.02 , 0.03 2020-12-09T06:41:27Z- waiting for 1607496088.65, time is 1607496087.27 2020-12-09T06:41:27Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496087.30 epoch sec; seqNo:1752; 4061668.02 north; 594336.84 east 2020-12-09T06:41:27Z- waiting for 1607496088.65, time is 1607496087.27 2020-12-09T06:41:27Z- sync is 0.03, coherence is 2.00 2020-12-09T06:41:27Z- AHRS_M2 msg: 1607496087.65 epoch sec; seqNo:1696 2020-12-09T06:41:27Z- AHRS_M2 msg: 1.45 phi; 0.02 theta; -0.20 psi 2020-12-09T06:41:27Z- waiting for 1607496088.65, time is 1607496087.27 2020-12-09T06:41:27Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:27Z- handleDepth()-Depth_Keller msg: 50.83 epoch sec; seqNo:1607496087658; depth 0.00 2020-12-09T06:41:27Z- waiting for 1607496088.65, time is 1607496087.27 2020-12-09T06:41:27Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:27Z- handleDvl() - RDI_Pathfinder msg: 1607496087.68 epoch sec; seqNo:972 2020-12-09T06:41:27Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.85 , 45.41 , 32.49 , 39.12 2020-12-09T06:41:27Z- handleDvl() - RDI_Pathfinder msg: velocities 1.08 , -0.04 , -0.01 2020-12-09T06:41:27Z- waiting for 1607496088.65, time is 1607496087.68 2020-12-09T06:41:27Z- sync is 0.03, coherence is 2.00 2020-12-09T06:41:27Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496087.69 epoch sec; seqNo:1753; 4061668.41 north; 594338.06 east 2020-12-09T06:41:27Z- waiting for 1607496088.65, time is 1607496087.68 2020-12-09T06:41:27Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:27Z- AHRS_M2 msg: 1607496088.05 epoch sec; seqNo:1697 2020-12-09T06:41:27Z- AHRS_M2 msg: 1.45 phi; 0.02 theta; -0.19 psi 2020-12-09T06:41:27Z- waiting for 1607496088.65, time is 1607496087.68 2020-12-09T06:41:27Z- sync is 0.37, coherence is 2.00 2020-12-09T06:41:27Z- handleDepth()-Depth_Keller msg: 50.83 epoch sec; seqNo:1607496088058; depth 0.00 2020-12-09T06:41:27Z- waiting for 1607496088.65, time is 1607496087.68 2020-12-09T06:41:27Z- sync is 0.37, coherence is 2.00 2020-12-09T06:41:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496088.08 epoch sec; seqNo:1754; 4061668.41 north; 594338.06 east 2020-12-09T06:41:28Z- waiting for 1607496088.65, time is 1607496087.68 2020-12-09T06:41:28Z- sync is 0.40, coherence is 2.00 2020-12-09T06:41:28Z- AHRS_M2 msg: 1607496088.46 epoch sec; seqNo:1698 2020-12-09T06:41:28Z- AHRS_M2 msg: 1.45 phi; 0.02 theta; -0.19 psi 2020-12-09T06:41:28Z- waiting for 1607496088.65, time is 1607496087.68 2020-12-09T06:41:28Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:28Z- handleDepth()-Depth_Keller msg: 50.82 epoch sec; seqNo:1607496088462; depth 0.00 2020-12-09T06:41:28Z- waiting for 1607496088.65, time is 1607496087.68 2020-12-09T06:41:28Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:28Z- handleDvl() - RDI_Pathfinder msg: 1607496088.47 epoch sec; seqNo:973 2020-12-09T06:41:28Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.67 , 45.07 , 32.31 , 39.97 2020-12-09T06:41:28Z- handleDvl() - RDI_Pathfinder msg: velocities 1.06 , -0.05 , -0.03 2020-12-09T06:41:28Z- waiting for 1607496088.65, time is 1607496088.47 2020-12-09T06:41:28Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496088.50 epoch sec; seqNo:1755; 4061668.41 north; 594338.06 east 2020-12-09T06:41:28Z- waiting for 1607496088.65, time is 1607496088.47 2020-12-09T06:41:28Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:28Z- AHRS_M2 msg: 1607496088.86 epoch sec; seqNo:1699 2020-12-09T06:41:28Z- AHRS_M2 msg: 1.45 phi; 0.02 theta; -0.20 psi 2020-12-09T06:41:28Z- waiting for 1607496088.65, time is 1607496088.47 2020-12-09T06:41:28Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:28Z- handleDepth()-Depth_Keller msg: 50.82 epoch sec; seqNo:1607496088870; depth 0.00 2020-12-09T06:41:28Z- waiting for 1607496088.65, time is 1607496088.47 2020-12-09T06:41:28Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:28Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496088.89 epoch sec; seqNo:1756; 4061668.42 north; 594339.28 east 2020-12-09T06:41:28Z- waiting for 1607496088.65, time is 1607496088.47 2020-12-09T06:41:28Z- sync is 0.41, coherence is 2.00 2020-12-09T06:41:29Z- AHRS_M2 msg: 1607496089.29 epoch sec; seqNo:1700 2020-12-09T06:41:29Z- AHRS_M2 msg: 1.46 phi; 0.02 theta; -0.20 psi 2020-12-09T06:41:29Z- waiting for 1607496088.65, time is 1607496088.47 2020-12-09T06:41:29Z- sync is 0.82, coherence is 2.00 2020-12-09T06:41:29Z- handleDepth()-Depth_Keller msg: 50.81 epoch sec; seqNo:1607496089294; depth 0.00 2020-12-09T06:41:29Z- waiting for 1607496088.65, time is 1607496088.47 2020-12-09T06:41:29Z- sync is 0.82, coherence is 2.00 2020-12-09T06:41:29Z- handleDvl() - RDI_Pathfinder msg: 1607496089.31 epoch sec; seqNo:974 2020-12-09T06:41:29Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.51 , 44.90 , 31.97 , 40.14 2020-12-09T06:41:29Z- handleDvl() - RDI_Pathfinder msg: velocities 1.02 , -0.05 , -0.05 2020-12-09T06:41:29Z- waiting for 1607496088.65, time is 1607496089.31 2020-12-09T06:41:29Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:29Z- LcmTrn::updateTrn() >>>> pose time 1607496089.29, meas time 1607496089.31 <<<< 2020-12-09T06:41:29Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607496089.31 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:41:29Z- TerrainNav::motionUpdate() - currEstimate = (4061668, 594339.28, 50.81) 2020-12-09T06:41:29Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:41:29Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:41:29Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:41:29Z- TNavBF::mmse selected from filter -1 2020-12-09T06:41:29Z- variances([0], [2], and psi_berg) = 785.150226 833.075434 0.000000 2020-12-09T06:41:29Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:41:29Z- LcmTrn::cycle() - MLE : 4061642.92 594292.78 50.81 2020-12-09T06:41:29Z- LcmTrn::cycle() - MMSE : 4061668.42 594339.28 50.81 2020-12-09T06:41:29Z- LcmTrn::cycle() - COVAR: 785.15 833.08 58.05 0.00 2020-12-09T06:41:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496089.34 epoch sec; seqNo:1757; 4061668.42 north; 594339.28 east 2020-12-09T06:41:29Z- waiting for 1607496092.31, time is 1607496089.31 2020-12-09T06:41:29Z- sync is 0.03, coherence is 2.00 2020-12-09T06:41:29Z- AHRS_M2 msg: 1607496089.67 epoch sec; seqNo:1701 2020-12-09T06:41:29Z- AHRS_M2 msg: 1.46 phi; 0.02 theta; -0.20 psi 2020-12-09T06:41:29Z- waiting for 1607496092.31, time is 1607496089.31 2020-12-09T06:41:29Z- sync is 0.36, coherence is 2.00 2020-12-09T06:41:29Z- handleDepth()-Depth_Keller msg: 50.79 epoch sec; seqNo:1607496089672; depth 0.00 2020-12-09T06:41:29Z- waiting for 1607496092.31, time is 1607496089.31 2020-12-09T06:41:29Z- sync is 0.36, coherence is 2.00 2020-12-09T06:41:29Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496089.69 epoch sec; seqNo:1758; 4061668.80 north; 594339.27 east 2020-12-09T06:41:29Z- waiting for 1607496092.31, time is 1607496089.31 2020-12-09T06:41:29Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:30Z- AHRS_M2 msg: 1607496090.08 epoch sec; seqNo:1702 2020-12-09T06:41:30Z- AHRS_M2 msg: 1.46 phi; 0.02 theta; -0.20 psi 2020-12-09T06:41:30Z- waiting for 1607496092.31, time is 1607496089.31 2020-12-09T06:41:30Z- sync is 0.77, coherence is 2.00 2020-12-09T06:41:30Z- handleDepth()-Depth_Keller msg: 50.79 epoch sec; seqNo:1607496090079; depth 0.00 2020-12-09T06:41:30Z- waiting for 1607496092.31, time is 1607496089.31 2020-12-09T06:41:30Z- sync is 0.77, coherence is 2.00 2020-12-09T06:41:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496090.09 epoch sec; seqNo:1759; 4061668.81 north; 594340.49 east 2020-12-09T06:41:30Z- waiting for 1607496092.31, time is 1607496089.31 2020-12-09T06:41:30Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:30Z- AHRS_M2 msg: 1607496090.48 epoch sec; seqNo:1703 2020-12-09T06:41:30Z- AHRS_M2 msg: 1.46 phi; 0.02 theta; -0.20 psi 2020-12-09T06:41:30Z- waiting for 1607496092.31, time is 1607496089.31 2020-12-09T06:41:30Z- sync is 1.17, coherence is 2.00 2020-12-09T06:41:30Z- handleDepth()-Depth_Keller msg: 50.76 epoch sec; seqNo:1607496090487; depth 0.00 2020-12-09T06:41:30Z- waiting for 1607496092.31, time is 1607496089.31 2020-12-09T06:41:30Z- sync is 1.17, coherence is 2.00 2020-12-09T06:41:30Z- handleDvl() - RDI_Pathfinder msg: 1607496090.50 epoch sec; seqNo:975 2020-12-09T06:41:30Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 33.17 , 45.07 , 31.80 , 40.14 2020-12-09T06:41:30Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.04 , -0.05 2020-12-09T06:41:30Z- waiting for 1607496092.31, time is 1607496090.50 2020-12-09T06:41:30Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496090.51 epoch sec; seqNo:1760; 4061668.81 north; 594340.49 east 2020-12-09T06:41:30Z- waiting for 1607496092.31, time is 1607496090.50 2020-12-09T06:41:30Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:30Z- AHRS_M2 msg: 1607496090.88 epoch sec; seqNo:1704 2020-12-09T06:41:30Z- AHRS_M2 msg: 1.46 phi; 0.02 theta; -0.20 psi 2020-12-09T06:41:30Z- waiting for 1607496092.31, time is 1607496090.50 2020-12-09T06:41:30Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:30Z- handleDepth()-Depth_Keller msg: 50.74 epoch sec; seqNo:1607496090890; depth 0.00 2020-12-09T06:41:30Z- waiting for 1607496092.31, time is 1607496090.50 2020-12-09T06:41:30Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:30Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496090.91 epoch sec; seqNo:1761; 4061668.81 north; 594340.49 east 2020-12-09T06:41:30Z- waiting for 1607496092.31, time is 1607496090.50 2020-12-09T06:41:30Z- sync is 0.41, coherence is 2.00 2020-12-09T06:41:31Z- AHRS_M2 msg: 1607496091.30 epoch sec; seqNo:1705 2020-12-09T06:41:31Z- AHRS_M2 msg: 1.46 phi; 0.03 theta; -0.20 psi 2020-12-09T06:41:31Z- waiting for 1607496092.31, time is 1607496090.50 2020-12-09T06:41:31Z- sync is 0.80, coherence is 2.00 2020-12-09T06:41:31Z- handleDepth()-Depth_Keller msg: 50.72 epoch sec; seqNo:1607496091301; depth 0.00 2020-12-09T06:41:31Z- waiting for 1607496092.31, time is 1607496090.50 2020-12-09T06:41:31Z- sync is 0.80, coherence is 2.00 2020-12-09T06:41:31Z- handleDvl() - RDI_Pathfinder msg: 1607496091.32 epoch sec; seqNo:976 2020-12-09T06:41:31Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.99 , 44.73 , 31.46 , 38.10 2020-12-09T06:41:31Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.03 , -0.04 2020-12-09T06:41:31Z- waiting for 1607496092.31, time is 1607496091.32 2020-12-09T06:41:31Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496091.33 epoch sec; seqNo:1762; 4061668.83 north; 594341.71 east 2020-12-09T06:41:31Z- waiting for 1607496092.31, time is 1607496091.32 2020-12-09T06:41:31Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:31Z- AHRS_M2 msg: 1607496091.69 epoch sec; seqNo:1706 2020-12-09T06:41:31Z- AHRS_M2 msg: 1.46 phi; 0.03 theta; -0.20 psi 2020-12-09T06:41:31Z- waiting for 1607496092.31, time is 1607496091.32 2020-12-09T06:41:31Z- sync is 0.37, coherence is 2.00 2020-12-09T06:41:31Z- handleDepth()-Depth_Keller msg: 50.71 epoch sec; seqNo:1607496091696; depth 0.00 2020-12-09T06:41:31Z- waiting for 1607496092.31, time is 1607496091.32 2020-12-09T06:41:31Z- sync is 0.37, coherence is 2.00 2020-12-09T06:41:31Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496091.75 epoch sec; seqNo:1763; 4061668.83 north; 594341.71 east 2020-12-09T06:41:31Z- waiting for 1607496092.31, time is 1607496091.32 2020-12-09T06:41:31Z- sync is 0.43, coherence is 2.00 2020-12-09T06:41:32Z- AHRS_M2 msg: 1607496092.10 epoch sec; seqNo:1707 2020-12-09T06:41:32Z- AHRS_M2 msg: 1.46 phi; 0.03 theta; -0.20 psi 2020-12-09T06:41:32Z- waiting for 1607496092.31, time is 1607496091.32 2020-12-09T06:41:32Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:32Z- handleDepth()-Depth_Keller msg: 50.69 epoch sec; seqNo:1607496092102; depth 0.00 2020-12-09T06:41:32Z- waiting for 1607496092.31, time is 1607496091.32 2020-12-09T06:41:32Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496092.11 epoch sec; seqNo:1764; 4061669.21 north; 594341.71 east 2020-12-09T06:41:32Z- waiting for 1607496092.31, time is 1607496091.32 2020-12-09T06:41:32Z- sync is 0.79, coherence is 2.00 2020-12-09T06:41:32Z- AHRS_M2 msg: 1607496092.50 epoch sec; seqNo:1708 2020-12-09T06:41:32Z- AHRS_M2 msg: 1.46 phi; 0.03 theta; -0.20 psi 2020-12-09T06:41:32Z- waiting for 1607496092.31, time is 1607496091.32 2020-12-09T06:41:32Z- sync is 1.18, coherence is 2.00 2020-12-09T06:41:32Z- handleDepth()-Depth_Keller msg: 50.67 epoch sec; seqNo:1607496092506; depth 0.00 2020-12-09T06:41:32Z- waiting for 1607496092.31, time is 1607496091.32 2020-12-09T06:41:32Z- sync is 1.18, coherence is 2.00 2020-12-09T06:41:32Z- handleDvl() - RDI_Pathfinder msg: 1607496092.52 epoch sec; seqNo:977 2020-12-09T06:41:32Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 32.49 , 44.73 , 31.29 , 38.10 2020-12-09T06:41:32Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.03 , -0.03 2020-12-09T06:41:32Z- waiting for 1607496092.31, time is 1607496092.52 2020-12-09T06:41:32Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:32Z- LcmTrn::updateTrn() >>>> pose time 1607496092.50, meas time 1607496092.52 <<<< 2020-12-09T06:41:32Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607496092.52 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:41:32Z- TerrainNav::motionUpdate() - currEstimate = (4061669, 594341.71, 50.67) 2020-12-09T06:41:32Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:41:32Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:41:32Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:41:32Z- TNavBF::mmse selected from filter -1 2020-12-09T06:41:32Z- variances([0], [2], and psi_berg) = 785.016625 833.075223 0.000000 2020-12-09T06:41:32Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:41:32Z- LcmTrn::cycle() - MLE : 4061643.71 594295.21 50.67 2020-12-09T06:41:32Z- LcmTrn::cycle() - MMSE : 4061669.21 594341.71 50.67 2020-12-09T06:41:32Z- LcmTrn::cycle() - COVAR: 785.02 833.08 58.18 0.00 2020-12-09T06:41:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496092.54 epoch sec; seqNo:1765; 4061669.22 north; 594342.93 east 2020-12-09T06:41:32Z- waiting for 1607496095.52, time is 1607496092.52 2020-12-09T06:41:32Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:32Z- AHRS_M2 msg: 1607496092.90 epoch sec; seqNo:1709 2020-12-09T06:41:32Z- AHRS_M2 msg: 1.47 phi; 0.03 theta; -0.19 psi 2020-12-09T06:41:32Z- waiting for 1607496095.52, time is 1607496092.52 2020-12-09T06:41:32Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:32Z- handleDepth()-Depth_Keller msg: 50.63 epoch sec; seqNo:1607496092910; depth 0.00 2020-12-09T06:41:32Z- waiting for 1607496095.52, time is 1607496092.52 2020-12-09T06:41:32Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:32Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496092.92 epoch sec; seqNo:1766; 4061669.22 north; 594342.93 east 2020-12-09T06:41:32Z- waiting for 1607496095.52, time is 1607496092.52 2020-12-09T06:41:32Z- sync is 0.40, coherence is 2.00 2020-12-09T06:41:33Z- handleDepth()-Depth_Keller msg: 50.61 epoch sec; seqNo:1607496093330; depth 0.00 2020-12-09T06:41:33Z- waiting for 1607496095.52, time is 1607496092.52 2020-12-09T06:41:33Z- sync is 0.40, coherence is 2.00 2020-12-09T06:41:33Z- handleDvl() - RDI_Pathfinder msg: 1607496093.35 epoch sec; seqNo:978 2020-12-09T06:41:33Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.98 , 44.39 , 30.96 , 38.44 2020-12-09T06:41:33Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.02 , -0.02 2020-12-09T06:41:33Z- waiting for 1607496095.52, time is 1607496093.35 2020-12-09T06:41:33Z- sync is 0.43, coherence is 2.00 2020-12-09T06:41:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496093.37 epoch sec; seqNo:1767; 4061669.22 north; 594342.93 east 2020-12-09T06:41:33Z- waiting for 1607496095.52, time is 1607496093.35 2020-12-09T06:41:33Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:33Z- AHRS_M2 msg: 1607496093.71 epoch sec; seqNo:1710 2020-12-09T06:41:33Z- AHRS_M2 msg: 1.47 phi; 0.03 theta; -0.19 psi 2020-12-09T06:41:33Z- waiting for 1607496095.52, time is 1607496093.35 2020-12-09T06:41:33Z- sync is 0.36, coherence is 2.00 2020-12-09T06:41:33Z- handleDepth()-Depth_Keller msg: 50.58 epoch sec; seqNo:1607496093717; depth 0.00 2020-12-09T06:41:33Z- waiting for 1607496095.52, time is 1607496093.35 2020-12-09T06:41:33Z- sync is 0.36, coherence is 2.00 2020-12-09T06:41:33Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496093.74 epoch sec; seqNo:1768; 4061669.23 north; 594344.15 east 2020-12-09T06:41:33Z- waiting for 1607496095.52, time is 1607496093.35 2020-12-09T06:41:33Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:34Z- AHRS_M2 msg: 1607496094.12 epoch sec; seqNo:1711 2020-12-09T06:41:34Z- AHRS_M2 msg: 1.47 phi; 0.03 theta; -0.19 psi 2020-12-09T06:41:34Z- waiting for 1607496095.52, time is 1607496093.35 2020-12-09T06:41:34Z- sync is 0.77, coherence is 2.00 2020-12-09T06:41:34Z- handleDepth()-Depth_Keller msg: 50.57 epoch sec; seqNo:1607496094122; depth 0.00 2020-12-09T06:41:34Z- waiting for 1607496095.52, time is 1607496093.35 2020-12-09T06:41:34Z- sync is 0.77, coherence is 2.00 2020-12-09T06:41:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496094.13 epoch sec; seqNo:1769; 4061669.23 north; 594344.15 east 2020-12-09T06:41:34Z- waiting for 1607496095.52, time is 1607496093.35 2020-12-09T06:41:34Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:34Z- handleDepth()-Depth_Keller msg: 50.54 epoch sec; seqNo:1607496094546; depth 0.00 2020-12-09T06:41:34Z- waiting for 1607496095.52, time is 1607496093.35 2020-12-09T06:41:34Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:34Z- handleDvl() - RDI_Pathfinder msg: 1607496094.56 epoch sec; seqNo:979 2020-12-09T06:41:34Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.81 , 44.39 , 30.79 , 38.95 2020-12-09T06:41:34Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.02 , -0.01 2020-12-09T06:41:34Z- waiting for 1607496095.52, time is 1607496094.56 2020-12-09T06:41:34Z- sync is 0.43, coherence is 2.00 2020-12-09T06:41:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496094.58 epoch sec; seqNo:1770; 4061669.23 north; 594344.15 east 2020-12-09T06:41:34Z- waiting for 1607496095.52, time is 1607496094.56 2020-12-09T06:41:34Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:34Z- AHRS_M2 msg: 1607496094.94 epoch sec; seqNo:1712 2020-12-09T06:41:34Z- AHRS_M2 msg: 1.47 phi; 0.03 theta; -0.19 psi 2020-12-09T06:41:34Z- waiting for 1607496095.52, time is 1607496094.56 2020-12-09T06:41:34Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:34Z- handleDepth()-Depth_Keller msg: 50.53 epoch sec; seqNo:1607496094945; depth 0.00 2020-12-09T06:41:34Z- waiting for 1607496095.52, time is 1607496094.56 2020-12-09T06:41:34Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:34Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496094.96 epoch sec; seqNo:1771; 4061669.25 north; 594345.37 east 2020-12-09T06:41:34Z- waiting for 1607496095.52, time is 1607496094.56 2020-12-09T06:41:34Z- sync is 0.40, coherence is 2.00 2020-12-09T06:41:35Z- AHRS_M2 msg: 1607496095.33 epoch sec; seqNo:1713 2020-12-09T06:41:35Z- AHRS_M2 msg: 1.47 phi; 0.03 theta; -0.19 psi 2020-12-09T06:41:35Z- waiting for 1607496095.52, time is 1607496094.56 2020-12-09T06:41:35Z- sync is 0.77, coherence is 2.00 2020-12-09T06:41:35Z- handleDepth()-Depth_Keller msg: 50.50 epoch sec; seqNo:1607496095335; depth 0.00 2020-12-09T06:41:35Z- waiting for 1607496095.52, time is 1607496094.56 2020-12-09T06:41:35Z- sync is 0.77, coherence is 2.00 2020-12-09T06:41:35Z- handleDvl() - RDI_Pathfinder msg: 1607496095.36 epoch sec; seqNo:980 2020-12-09T06:41:35Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.63 , 44.05 , 30.78 , 39.46 2020-12-09T06:41:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.03 , -0.01 2020-12-09T06:41:35Z- waiting for 1607496095.52, time is 1607496095.36 2020-12-09T06:41:35Z- sync is 0.03, coherence is 2.00 2020-12-09T06:41:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496095.38 epoch sec; seqNo:1772; 4061669.63 north; 594345.36 east 2020-12-09T06:41:35Z- waiting for 1607496095.52, time is 1607496095.36 2020-12-09T06:41:35Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:35Z- AHRS_M2 msg: 1607496095.73 epoch sec; seqNo:1714 2020-12-09T06:41:35Z- AHRS_M2 msg: 1.48 phi; 0.03 theta; -0.19 psi 2020-12-09T06:41:35Z- waiting for 1607496095.52, time is 1607496095.36 2020-12-09T06:41:35Z- sync is 0.37, coherence is 2.00 2020-12-09T06:41:35Z- handleDepth()-Depth_Keller msg: 50.49 epoch sec; seqNo:1607496095735; depth 0.00 2020-12-09T06:41:35Z- waiting for 1607496095.52, time is 1607496095.36 2020-12-09T06:41:35Z- sync is 0.37, coherence is 2.00 2020-12-09T06:41:35Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:35Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:35Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:35Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:41:35Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:41:35Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:41:35Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:41:35Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:41:35Z- handleDvl() - RDI_Pathfinder msg: 1607496095.74 epoch sec; seqNo:981 2020-12-09T06:41:35Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:41:35Z- handleDvl() - RDI_Pathfinder msg: velocities 0.97 , -0.03 , -0.01 2020-12-09T06:41:35Z- waiting for 1607496095.52, time is 1607496095.74 2020-12-09T06:41:35Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:35Z- LcmTrn::updateTrn() >>>> pose time 1607496095.73, meas time 1607496095.74 <<<< 2020-12-09T06:41:35Z- TerrainNav:: Throwing out all beams because more than two are equal to 0.000 at t=1607496095.74, ping # 0. 2020-12-09T06:41:35Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607496095.74 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:41:35Z- TerrainNav::motionUpdate() - currEstimate = (4061670, 594345.36, 50.49) 2020-12-09T06:41:35Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:41:35Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:41:35Z- TerrainNav::motionUpdate() - Invalid velocity 2020-12-09T06:41:35Z- TerrainNav::motionUpdate() - Invalid velocity, using prior value 2020-12-09T06:41:35Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:41:35Z- TNavBF::mmse selected from filter -1 2020-12-09T06:41:35Z- variances([0], [2], and psi_berg) = 784.856680 833.074971 0.000000 2020-12-09T06:41:35Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:41:35Z- LcmTrn::cycle() - MLE : 4061644.13 594299.86 50.49 2020-12-09T06:41:35Z- LcmTrn::cycle() - MMSE : 4061669.63 594345.36 50.49 2020-12-09T06:41:35Z- LcmTrn::cycle() - COVAR: 784.86 833.07 58.36 0.00 2020-12-09T06:41:35Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496095.75 epoch sec; seqNo:1773; 4061669.63 north; 594345.36 east 2020-12-09T06:41:35Z- waiting for 1607496098.74, time is 1607496095.74 2020-12-09T06:41:35Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:36Z- AHRS_M2 msg: 1607496096.13 epoch sec; seqNo:1715 2020-12-09T06:41:36Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.19 psi 2020-12-09T06:41:36Z- waiting for 1607496098.74, time is 1607496095.74 2020-12-09T06:41:36Z- sync is 0.40, coherence is 2.00 2020-12-09T06:41:36Z- handleDepth()-Depth_Keller msg: 50.46 epoch sec; seqNo:1607496096138; depth 0.00 2020-12-09T06:41:36Z- waiting for 1607496098.74, time is 1607496095.74 2020-12-09T06:41:36Z- sync is 0.40, coherence is 2.00 2020-12-09T06:41:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496096.15 epoch sec; seqNo:1774; 4061669.64 north; 594346.58 east 2020-12-09T06:41:36Z- waiting for 1607496098.74, time is 1607496095.74 2020-12-09T06:41:36Z- sync is 0.42, coherence is 2.00 2020-12-09T06:41:36Z- AHRS_M2 msg: 1607496096.54 epoch sec; seqNo:1716 2020-12-09T06:41:36Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.20 psi 2020-12-09T06:41:36Z- waiting for 1607496098.74, time is 1607496095.74 2020-12-09T06:41:36Z- sync is 0.80, coherence is 2.00 2020-12-09T06:41:36Z- handleDepth()-Depth_Keller msg: 50.45 epoch sec; seqNo:1607496096547; depth 0.00 2020-12-09T06:41:36Z- waiting for 1607496098.74, time is 1607496095.74 2020-12-09T06:41:36Z- sync is 0.80, coherence is 2.00 2020-12-09T06:41:36Z- handleDvl() - RDI_Pathfinder msg: 1607496096.56 epoch sec; seqNo:982 2020-12-09T06:41:36Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 31.12 , 44.05 , 31.12 , 39.12 2020-12-09T06:41:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.03 , -0.01 2020-12-09T06:41:36Z- waiting for 1607496098.74, time is 1607496096.56 2020-12-09T06:41:36Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496096.57 epoch sec; seqNo:1775; 4061669.64 north; 594346.58 east 2020-12-09T06:41:36Z- waiting for 1607496098.74, time is 1607496096.56 2020-12-09T06:41:36Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:36Z- AHRS_M2 msg: 1607496096.95 epoch sec; seqNo:1717 2020-12-09T06:41:36Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.20 psi 2020-12-09T06:41:36Z- waiting for 1607496098.74, time is 1607496096.56 2020-12-09T06:41:36Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:36Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1607496096973; depth 0.00 2020-12-09T06:41:36Z- waiting for 1607496098.74, time is 1607496096.56 2020-12-09T06:41:36Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:36Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:36Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:36Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:36Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:41:36Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:41:36Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:41:36Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:41:36Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:41:36Z- handleDvl() - RDI_Pathfinder msg: 1607496096.98 epoch sec; seqNo:983 2020-12-09T06:41:36Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:41:36Z- handleDvl() - RDI_Pathfinder msg: velocities 0.98 , -0.03 , -0.01 2020-12-09T06:41:36Z- waiting for 1607496098.74, time is 1607496096.98 2020-12-09T06:41:36Z- sync is 0.03, coherence is 2.00 2020-12-09T06:41:36Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496096.99 epoch sec; seqNo:1776; 4061669.64 north; 594346.58 east 2020-12-09T06:41:36Z- waiting for 1607496098.74, time is 1607496096.98 2020-12-09T06:41:36Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:37Z- AHRS_M2 msg: 1607496097.35 epoch sec; seqNo:1718 2020-12-09T06:41:37Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.20 psi 2020-12-09T06:41:37Z- waiting for 1607496098.74, time is 1607496096.98 2020-12-09T06:41:37Z- sync is 0.37, coherence is 2.00 2020-12-09T06:41:37Z- handleDepth()-Depth_Keller msg: 50.42 epoch sec; seqNo:1607496097362; depth 0.00 2020-12-09T06:41:37Z- waiting for 1607496098.74, time is 1607496096.98 2020-12-09T06:41:37Z- sync is 0.37, coherence is 2.00 2020-12-09T06:41:37Z- handleDvl() - RDI_Pathfinder msg: 1607496097.38 epoch sec; seqNo:984 2020-12-09T06:41:37Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.61 , 43.71 , 31.29 , 39.12 2020-12-09T06:41:37Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.06 , -0.00 2020-12-09T06:41:37Z- waiting for 1607496098.74, time is 1607496097.38 2020-12-09T06:41:37Z- sync is 0.03, coherence is 2.00 2020-12-09T06:41:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496097.40 epoch sec; seqNo:1777; 4061669.65 north; 594347.81 east 2020-12-09T06:41:37Z- waiting for 1607496098.74, time is 1607496097.38 2020-12-09T06:41:37Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:37Z- AHRS_M2 msg: 1607496097.75 epoch sec; seqNo:1719 2020-12-09T06:41:37Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.20 psi 2020-12-09T06:41:37Z- waiting for 1607496098.74, time is 1607496097.38 2020-12-09T06:41:37Z- sync is 0.37, coherence is 2.00 2020-12-09T06:41:37Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1607496097762; depth 0.00 2020-12-09T06:41:37Z- waiting for 1607496098.74, time is 1607496097.38 2020-12-09T06:41:37Z- sync is 0.37, coherence is 2.00 2020-12-09T06:41:37Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496097.77 epoch sec; seqNo:1778; 4061669.65 north; 594347.81 east 2020-12-09T06:41:37Z- waiting for 1607496098.74, time is 1607496097.38 2020-12-09T06:41:37Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:38Z- AHRS_M2 msg: 1607496098.16 epoch sec; seqNo:1720 2020-12-09T06:41:38Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.20 psi 2020-12-09T06:41:38Z- waiting for 1607496098.74, time is 1607496097.38 2020-12-09T06:41:38Z- sync is 0.77, coherence is 2.00 2020-12-09T06:41:38Z- handleDepth()-Depth_Keller msg: 50.39 epoch sec; seqNo:1607496098168; depth 0.00 2020-12-09T06:41:38Z- waiting for 1607496098.74, time is 1607496097.38 2020-12-09T06:41:38Z- sync is 0.77, coherence is 2.00 2020-12-09T06:41:38Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:38Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:38Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:38Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:41:38Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:41:38Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:41:38Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:41:38Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:41:38Z- handleDvl() - RDI_Pathfinder msg: 1607496098.17 epoch sec; seqNo:985 2020-12-09T06:41:38Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:41:38Z- handleDvl() - RDI_Pathfinder msg: velocities 0.99 , -0.06 , -0.00 2020-12-09T06:41:38Z- waiting for 1607496098.74, time is 1607496098.17 2020-12-09T06:41:38Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496098.18 epoch sec; seqNo:1779; 4061670.03 north; 594347.80 east 2020-12-09T06:41:38Z- waiting for 1607496098.74, time is 1607496098.17 2020-12-09T06:41:38Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:38Z- AHRS_M2 msg: 1607496098.56 epoch sec; seqNo:1721 2020-12-09T06:41:38Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.20 psi 2020-12-09T06:41:38Z- waiting for 1607496098.74, time is 1607496098.17 2020-12-09T06:41:38Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:38Z- handleDepth()-Depth_Keller msg: 50.38 epoch sec; seqNo:1607496098570; depth 0.00 2020-12-09T06:41:38Z- waiting for 1607496098.74, time is 1607496098.17 2020-12-09T06:41:38Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:38Z- handleDvl() - RDI_Pathfinder msg: 1607496098.60 epoch sec; seqNo:986 2020-12-09T06:41:38Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 30.44 , 43.71 , 31.29 , 39.12 2020-12-09T06:41:38Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.05 , 0.00 2020-12-09T06:41:38Z- waiting for 1607496098.74, time is 1607496098.60 2020-12-09T06:41:38Z- sync is 0.04, coherence is 2.00 2020-12-09T06:41:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496098.61 epoch sec; seqNo:1780; 4061670.03 north; 594347.80 east 2020-12-09T06:41:38Z- waiting for 1607496098.74, time is 1607496098.60 2020-12-09T06:41:38Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:38Z- AHRS_M2 msg: 1607496098.97 epoch sec; seqNo:1722 2020-12-09T06:41:38Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.20 psi 2020-12-09T06:41:38Z- waiting for 1607496098.74, time is 1607496098.60 2020-12-09T06:41:38Z- sync is 0.37, coherence is 2.00 2020-12-09T06:41:38Z- handleDepth()-Depth_Keller msg: 50.37 epoch sec; seqNo:1607496098977; depth 0.00 2020-12-09T06:41:38Z- waiting for 1607496098.74, time is 1607496098.60 2020-12-09T06:41:38Z- sync is 0.37, coherence is 2.00 2020-12-09T06:41:38Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496098.99 epoch sec; seqNo:1781; 4061670.05 north; 594349.02 east 2020-12-09T06:41:38Z- waiting for 1607496098.74, time is 1607496098.60 2020-12-09T06:41:38Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:39Z- AHRS_M2 msg: 1607496099.38 epoch sec; seqNo:1723 2020-12-09T06:41:39Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.20 psi 2020-12-09T06:41:39Z- waiting for 1607496098.74, time is 1607496098.60 2020-12-09T06:41:39Z- sync is 0.77, coherence is 2.00 2020-12-09T06:41:39Z- handleDepth()-Depth_Keller msg: 50.36 epoch sec; seqNo:1607496099380; depth 0.00 2020-12-09T06:41:39Z- waiting for 1607496098.74, time is 1607496098.60 2020-12-09T06:41:39Z- sync is 0.77, coherence is 2.00 2020-12-09T06:41:39Z- handleDvl() - RDI_Pathfinder msg: 1607496099.39 epoch sec; seqNo:987 2020-12-09T06:41:39Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.93 , 43.20 , 31.12 , 38.95 2020-12-09T06:41:39Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.08 , 0.02 2020-12-09T06:41:39Z- waiting for 1607496098.74, time is 1607496099.39 2020-12-09T06:41:39Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:39Z- LcmTrn::updateTrn() >>>> pose time 1607496099.38, meas time 1607496099.39 <<<< 2020-12-09T06:41:39Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607496099.39 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:41:39Z- TerrainNav::motionUpdate() - currEstimate = (4061670, 594349.02, 50.36) 2020-12-09T06:41:39Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:41:39Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:41:39Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:41:39Z- TNavBF::mmse selected from filter -1 2020-12-09T06:41:39Z- variances([0], [2], and psi_berg) = 784.697201 833.074721 0.000000 2020-12-09T06:41:39Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:41:39Z- LcmTrn::cycle() - MLE : 4061644.55 594303.52 50.36 2020-12-09T06:41:39Z- LcmTrn::cycle() - MMSE : 4061670.05 594349.02 50.36 2020-12-09T06:41:39Z- LcmTrn::cycle() - COVAR: 784.70 833.07 58.55 0.00 2020-12-09T06:41:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496099.40 epoch sec; seqNo:1782; 4061670.05 north; 594349.02 east 2020-12-09T06:41:39Z- waiting for 1607496102.39, time is 1607496099.39 2020-12-09T06:41:39Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:39Z- AHRS_M2 msg: 1607496099.77 epoch sec; seqNo:1724 2020-12-09T06:41:39Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.20 psi 2020-12-09T06:41:39Z- waiting for 1607496102.39, time is 1607496099.39 2020-12-09T06:41:39Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:39Z- handleDepth()-Depth_Keller msg: 50.36 epoch sec; seqNo:1607496099777; depth 0.00 2020-12-09T06:41:39Z- waiting for 1607496102.39, time is 1607496099.39 2020-12-09T06:41:39Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:39Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496099.80 epoch sec; seqNo:1783; 4061670.05 north; 594349.02 east 2020-12-09T06:41:39Z- waiting for 1607496102.39, time is 1607496099.39 2020-12-09T06:41:39Z- sync is 0.40, coherence is 2.00 2020-12-09T06:41:40Z- AHRS_M2 msg: 1607496100.18 epoch sec; seqNo:1725 2020-12-09T06:41:40Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.20 psi 2020-12-09T06:41:40Z- waiting for 1607496102.39, time is 1607496099.39 2020-12-09T06:41:40Z- sync is 0.79, coherence is 2.00 2020-12-09T06:41:40Z- handleDepth()-Depth_Keller msg: 50.35 epoch sec; seqNo:1607496100188; depth 0.00 2020-12-09T06:41:40Z- waiting for 1607496102.39, time is 1607496099.39 2020-12-09T06:41:40Z- sync is 0.79, coherence is 2.00 2020-12-09T06:41:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496100.20 epoch sec; seqNo:1784; 4061670.06 north; 594350.24 east 2020-12-09T06:41:40Z- waiting for 1607496102.39, time is 1607496099.39 2020-12-09T06:41:40Z- sync is 0.81, coherence is 2.00 2020-12-09T06:41:40Z- AHRS_M2 msg: 1607496100.58 epoch sec; seqNo:1726 2020-12-09T06:41:40Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.20 psi 2020-12-09T06:41:40Z- waiting for 1607496102.39, time is 1607496099.39 2020-12-09T06:41:40Z- sync is 1.19, coherence is 2.00 2020-12-09T06:41:40Z- handleDepth()-Depth_Keller msg: 50.33 epoch sec; seqNo:1607496100586; depth 0.00 2020-12-09T06:41:40Z- waiting for 1607496102.39, time is 1607496099.39 2020-12-09T06:41:40Z- sync is 1.19, coherence is 2.00 2020-12-09T06:41:40Z- handleDvl() - RDI_Pathfinder msg: 1607496100.60 epoch sec; seqNo:988 2020-12-09T06:41:40Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 29.76 , 43.03 , 31.29 , 39.12 2020-12-09T06:41:40Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , -0.08 , 0.04 2020-12-09T06:41:40Z- waiting for 1607496102.39, time is 1607496100.60 2020-12-09T06:41:40Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496100.62 epoch sec; seqNo:1785; 4061670.44 north; 594350.24 east 2020-12-09T06:41:40Z- waiting for 1607496102.39, time is 1607496100.60 2020-12-09T06:41:40Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:40Z- AHRS_M2 msg: 1607496100.98 epoch sec; seqNo:1727 2020-12-09T06:41:40Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.20 psi 2020-12-09T06:41:40Z- waiting for 1607496102.39, time is 1607496100.60 2020-12-09T06:41:40Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:40Z- handleDepth()-Depth_Keller msg: 50.33 epoch sec; seqNo:1607496100991; depth 0.00 2020-12-09T06:41:40Z- waiting for 1607496102.39, time is 1607496100.60 2020-12-09T06:41:40Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:40Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496101.01 epoch sec; seqNo:1786; 4061670.44 north; 594350.24 east 2020-12-09T06:41:40Z- waiting for 1607496102.39, time is 1607496100.60 2020-12-09T06:41:40Z- sync is 0.41, coherence is 2.00 2020-12-09T06:41:41Z- AHRS_M2 msg: 1607496101.39 epoch sec; seqNo:1728 2020-12-09T06:41:41Z- AHRS_M2 msg: 1.49 phi; 0.04 theta; -0.21 psi 2020-12-09T06:41:41Z- waiting for 1607496102.39, time is 1607496100.60 2020-12-09T06:41:41Z- sync is 0.79, coherence is 2.00 2020-12-09T06:41:41Z- handleDepth()-Depth_Keller msg: 50.33 epoch sec; seqNo:1607496101393; depth 0.00 2020-12-09T06:41:41Z- waiting for 1607496102.39, time is 1607496100.60 2020-12-09T06:41:41Z- sync is 0.79, coherence is 2.00 2020-12-09T06:41:41Z- handleDvl() - RDI_Pathfinder msg: 1607496101.41 epoch sec; seqNo:989 2020-12-09T06:41:41Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.74 , 43.20 , 31.29 , 38.78 2020-12-09T06:41:41Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.10 , 0.05 2020-12-09T06:41:41Z- waiting for 1607496102.39, time is 1607496101.41 2020-12-09T06:41:41Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496101.42 epoch sec; seqNo:1787; 4061670.45 north; 594351.46 east 2020-12-09T06:41:41Z- waiting for 1607496102.39, time is 1607496101.41 2020-12-09T06:41:41Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:41Z- AHRS_M2 msg: 1607496101.79 epoch sec; seqNo:1729 2020-12-09T06:41:41Z- AHRS_M2 msg: 1.49 phi; 0.04 theta; -0.21 psi 2020-12-09T06:41:41Z- waiting for 1607496102.39, time is 1607496101.41 2020-12-09T06:41:41Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:41Z- handleDepth()-Depth_Keller msg: 50.31 epoch sec; seqNo:1607496101802; depth 0.00 2020-12-09T06:41:41Z- waiting for 1607496102.39, time is 1607496101.41 2020-12-09T06:41:41Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:41Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496101.81 epoch sec; seqNo:1788; 4061670.45 north; 594351.46 east 2020-12-09T06:41:41Z- waiting for 1607496102.39, time is 1607496101.41 2020-12-09T06:41:41Z- sync is 0.40, coherence is 2.00 2020-12-09T06:41:42Z- AHRS_M2 msg: 1607496102.20 epoch sec; seqNo:1730 2020-12-09T06:41:42Z- AHRS_M2 msg: 1.49 phi; 0.04 theta; -0.21 psi 2020-12-09T06:41:42Z- waiting for 1607496102.39, time is 1607496101.41 2020-12-09T06:41:42Z- sync is 0.79, coherence is 2.00 2020-12-09T06:41:42Z- handleDepth()-Depth_Keller msg: 50.31 epoch sec; seqNo:1607496102202; depth 0.00 2020-12-09T06:41:42Z- waiting for 1607496102.39, time is 1607496101.41 2020-12-09T06:41:42Z- sync is 0.79, coherence is 2.00 2020-12-09T06:41:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496102.21 epoch sec; seqNo:1789; 4061670.45 north; 594351.46 east 2020-12-09T06:41:42Z- waiting for 1607496102.39, time is 1607496101.41 2020-12-09T06:41:42Z- sync is 0.80, coherence is 2.00 2020-12-09T06:41:42Z- AHRS_M2 msg: 1607496102.61 epoch sec; seqNo:1731 2020-12-09T06:41:42Z- AHRS_M2 msg: 1.49 phi; 0.04 theta; -0.21 psi 2020-12-09T06:41:42Z- waiting for 1607496102.39, time is 1607496101.41 2020-12-09T06:41:42Z- sync is 1.20, coherence is 2.00 2020-12-09T06:41:42Z- handleDepth()-Depth_Keller msg: 50.32 epoch sec; seqNo:1607496102616; depth 0.00 2020-12-09T06:41:42Z- waiting for 1607496102.39, time is 1607496101.41 2020-12-09T06:41:42Z- sync is 1.20, coherence is 2.00 2020-12-09T06:41:42Z- handleDvl() - RDI_Pathfinder msg: 1607496102.63 epoch sec; seqNo:990 2020-12-09T06:41:42Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.23 , 43.20 , 31.29 , 38.78 2020-12-09T06:41:42Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.08 , 0.06 2020-12-09T06:41:42Z- waiting for 1607496102.39, time is 1607496102.63 2020-12-09T06:41:42Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:42Z- LcmTrn::updateTrn() >>>> pose time 1607496102.61, meas time 1607496102.63 <<<< 2020-12-09T06:41:42Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607496102.63 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:41:42Z- TerrainNav::motionUpdate() - currEstimate = (4061670, 594351.46, 50.32) 2020-12-09T06:41:42Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:41:42Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:41:42Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:41:42Z- TNavBF::mmse selected from filter -1 2020-12-09T06:41:42Z- variances([0], [2], and psi_berg) = 784.566938 833.074517 0.000000 2020-12-09T06:41:42Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:41:42Z- LcmTrn::cycle() - MLE : 4061644.95 594305.96 50.32 2020-12-09T06:41:42Z- LcmTrn::cycle() - MMSE : 4061670.45 594351.46 50.32 2020-12-09T06:41:42Z- LcmTrn::cycle() - COVAR: 784.57 833.07 58.68 0.00 2020-12-09T06:41:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496102.64 epoch sec; seqNo:1790; 4061670.46 north; 594352.68 east 2020-12-09T06:41:42Z- waiting for 1607496105.63, time is 1607496102.63 2020-12-09T06:41:42Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:42Z- AHRS_M2 msg: 1607496103.01 epoch sec; seqNo:1732 2020-12-09T06:41:42Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.21 psi 2020-12-09T06:41:42Z- waiting for 1607496105.63, time is 1607496102.63 2020-12-09T06:41:42Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:42Z- handleDepth()-Depth_Keller msg: 50.30 epoch sec; seqNo:1607496103018; depth 0.00 2020-12-09T06:41:42Z- waiting for 1607496105.63, time is 1607496102.63 2020-12-09T06:41:42Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:42Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:42Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:42Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:42Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:41:42Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:41:42Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:41:42Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:41:42Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:41:42Z- handleDvl() - RDI_Pathfinder msg: 1607496103.02 epoch sec; seqNo:991 2020-12-09T06:41:42Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:41:42Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.08 , 0.06 2020-12-09T06:41:42Z- waiting for 1607496105.63, time is 1607496103.02 2020-12-09T06:41:42Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:42Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496103.05 epoch sec; seqNo:1791; 4061670.84 north; 594352.67 east 2020-12-09T06:41:42Z- waiting for 1607496105.63, time is 1607496103.02 2020-12-09T06:41:42Z- sync is 0.03, coherence is 2.00 2020-12-09T06:41:43Z- AHRS_M2 msg: 1607496103.41 epoch sec; seqNo:1733 2020-12-09T06:41:43Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.22 psi 2020-12-09T06:41:43Z- waiting for 1607496105.63, time is 1607496103.02 2020-12-09T06:41:43Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:43Z- handleDepth()-Depth_Keller msg: 50.28 epoch sec; seqNo:1607496103413; depth 0.00 2020-12-09T06:41:43Z- waiting for 1607496105.63, time is 1607496103.02 2020-12-09T06:41:43Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:43Z- handleDvl() - RDI_Pathfinder msg: 1607496103.43 epoch sec; seqNo:992 2020-12-09T06:41:43Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.40 , 43.20 , 31.63 , 38.61 2020-12-09T06:41:43Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , 0.06 2020-12-09T06:41:43Z- waiting for 1607496105.63, time is 1607496103.43 2020-12-09T06:41:43Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496103.45 epoch sec; seqNo:1792; 4061670.84 north; 594352.67 east 2020-12-09T06:41:43Z- waiting for 1607496105.63, time is 1607496103.43 2020-12-09T06:41:43Z- sync is 0.03, coherence is 2.00 2020-12-09T06:41:43Z- AHRS_M2 msg: 1607496103.81 epoch sec; seqNo:1734 2020-12-09T06:41:43Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.22 psi 2020-12-09T06:41:43Z- waiting for 1607496105.63, time is 1607496103.43 2020-12-09T06:41:43Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:43Z- handleDepth()-Depth_Keller msg: 50.27 epoch sec; seqNo:1607496103818; depth 0.00 2020-12-09T06:41:43Z- waiting for 1607496105.63, time is 1607496103.43 2020-12-09T06:41:43Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:43Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496103.83 epoch sec; seqNo:1793; 4061670.86 north; 594353.89 east 2020-12-09T06:41:43Z- waiting for 1607496105.63, time is 1607496103.43 2020-12-09T06:41:43Z- sync is 0.40, coherence is 2.00 2020-12-09T06:41:44Z- AHRS_M2 msg: 1607496104.22 epoch sec; seqNo:1735 2020-12-09T06:41:44Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.22 psi 2020-12-09T06:41:44Z- waiting for 1607496105.63, time is 1607496103.43 2020-12-09T06:41:44Z- sync is 0.79, coherence is 2.00 2020-12-09T06:41:44Z- handleDepth()-Depth_Keller msg: 50.25 epoch sec; seqNo:1607496104226; depth 0.00 2020-12-09T06:41:44Z- waiting for 1607496105.63, time is 1607496103.43 2020-12-09T06:41:44Z- sync is 0.79, coherence is 2.00 2020-12-09T06:41:44Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:44Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:44Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:44Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:41:44Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:41:44Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:41:44Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:41:44Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:41:44Z- handleDvl() - RDI_Pathfinder msg: 1607496104.23 epoch sec; seqNo:993 2020-12-09T06:41:44Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:41:44Z- handleDvl() - RDI_Pathfinder msg: velocities 1.03 , -0.07 , 0.06 2020-12-09T06:41:44Z- waiting for 1607496105.63, time is 1607496104.23 2020-12-09T06:41:44Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496104.25 epoch sec; seqNo:1794; 4061670.86 north; 594353.89 east 2020-12-09T06:41:44Z- waiting for 1607496105.63, time is 1607496104.23 2020-12-09T06:41:44Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:44Z- AHRS_M2 msg: 1607496104.62 epoch sec; seqNo:1736 2020-12-09T06:41:44Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.22 psi 2020-12-09T06:41:44Z- waiting for 1607496105.63, time is 1607496104.23 2020-12-09T06:41:44Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:44Z- handleDepth()-Depth_Keller msg: 50.24 epoch sec; seqNo:1607496104626; depth 0.00 2020-12-09T06:41:44Z- waiting for 1607496105.63, time is 1607496104.23 2020-12-09T06:41:44Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:44Z- handleDvl() - RDI_Pathfinder msg: 1607496104.65 epoch sec; seqNo:994 2020-12-09T06:41:44Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.40 , 43.20 , 31.63 , 38.27 2020-12-09T06:41:44Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.05 , 0.05 2020-12-09T06:41:44Z- waiting for 1607496105.63, time is 1607496104.65 2020-12-09T06:41:44Z- sync is 0.03, coherence is 2.00 2020-12-09T06:41:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496104.66 epoch sec; seqNo:1795; 4061670.86 north; 594353.89 east 2020-12-09T06:41:44Z- waiting for 1607496105.63, time is 1607496104.65 2020-12-09T06:41:44Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:44Z- AHRS_M2 msg: 1607496105.03 epoch sec; seqNo:1737 2020-12-09T06:41:44Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.22 psi 2020-12-09T06:41:44Z- waiting for 1607496105.63, time is 1607496104.65 2020-12-09T06:41:44Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:44Z- handleDepth()-Depth_Keller msg: 50.24 epoch sec; seqNo:1607496105037; depth 0.00 2020-12-09T06:41:44Z- waiting for 1607496105.63, time is 1607496104.65 2020-12-09T06:41:44Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:44Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496105.05 epoch sec; seqNo:1796; 4061670.87 north; 594355.11 east 2020-12-09T06:41:44Z- waiting for 1607496105.63, time is 1607496104.65 2020-12-09T06:41:44Z- sync is 0.40, coherence is 2.00 2020-12-09T06:41:45Z- AHRS_M2 msg: 1607496105.43 epoch sec; seqNo:1738 2020-12-09T06:41:45Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.22 psi 2020-12-09T06:41:45Z- waiting for 1607496105.63, time is 1607496104.65 2020-12-09T06:41:45Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:45Z- handleDepth()-Depth_Keller msg: 50.22 epoch sec; seqNo:1607496105443; depth 0.00 2020-12-09T06:41:45Z- waiting for 1607496105.63, time is 1607496104.65 2020-12-09T06:41:45Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:45Z- handleDvl() - RDI_Pathfinder msg: 1607496105.46 epoch sec; seqNo:995 2020-12-09T06:41:45Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 28.06 , 44.22 , 31.63 , 37.93 2020-12-09T06:41:45Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.05 , 0.02 2020-12-09T06:41:45Z- waiting for 1607496105.63, time is 1607496105.46 2020-12-09T06:41:45Z- sync is 0.03, coherence is 2.00 2020-12-09T06:41:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496105.47 epoch sec; seqNo:1797; 4061671.25 north; 594355.11 east 2020-12-09T06:41:45Z- waiting for 1607496105.63, time is 1607496105.46 2020-12-09T06:41:45Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:45Z- AHRS_M2 msg: 1607496105.84 epoch sec; seqNo:1739 2020-12-09T06:41:45Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.22 psi 2020-12-09T06:41:45Z- waiting for 1607496105.63, time is 1607496105.46 2020-12-09T06:41:45Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:45Z- handleDepth()-Depth_Keller msg: 50.19 epoch sec; seqNo:1607496105840; depth 0.00 2020-12-09T06:41:45Z- waiting for 1607496105.63, time is 1607496105.46 2020-12-09T06:41:45Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:45Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496105.87 epoch sec; seqNo:1798; 4061671.26 north; 594356.33 east 2020-12-09T06:41:45Z- waiting for 1607496105.63, time is 1607496105.46 2020-12-09T06:41:45Z- sync is 0.41, coherence is 2.00 2020-12-09T06:41:46Z- AHRS_M2 msg: 1607496106.24 epoch sec; seqNo:1740 2020-12-09T06:41:46Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.22 psi 2020-12-09T06:41:46Z- waiting for 1607496105.63, time is 1607496105.46 2020-12-09T06:41:46Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:46Z- handleDepth()-Depth_Keller msg: 50.18 epoch sec; seqNo:1607496106251; depth 0.00 2020-12-09T06:41:46Z- waiting for 1607496105.63, time is 1607496105.46 2020-12-09T06:41:46Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496106.29 epoch sec; seqNo:1799; 4061671.26 north; 594356.33 east 2020-12-09T06:41:46Z- waiting for 1607496105.63, time is 1607496105.46 2020-12-09T06:41:46Z- sync is 0.84, coherence is 2.00 2020-12-09T06:41:46Z- AHRS_M2 msg: 1607496106.65 epoch sec; seqNo:1741 2020-12-09T06:41:46Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.22 psi 2020-12-09T06:41:46Z- waiting for 1607496105.63, time is 1607496105.46 2020-12-09T06:41:46Z- sync is 1.19, coherence is 2.00 2020-12-09T06:41:46Z- handleDepth()-Depth_Keller msg: 50.16 epoch sec; seqNo:1607496106658; depth 0.00 2020-12-09T06:41:46Z- waiting for 1607496105.63, time is 1607496105.46 2020-12-09T06:41:46Z- sync is 1.19, coherence is 2.00 2020-12-09T06:41:46Z- handleDvl() - RDI_Pathfinder msg: 1607496106.68 epoch sec; seqNo:996 2020-12-09T06:41:46Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.55 , 23.13 , 31.63 , 37.93 2020-12-09T06:41:46Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.10 , 0.01 2020-12-09T06:41:46Z- waiting for 1607496105.63, time is 1607496106.68 2020-12-09T06:41:46Z- sync is 0.03, coherence is 2.00 2020-12-09T06:41:46Z- LcmTrn::updateTrn() >>>> pose time 1607496106.65, meas time 1607496106.68 <<<< 2020-12-09T06:41:46Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607496106.68 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:41:46Z- TerrainNav::motionUpdate() - currEstimate = (4061671, 594356.33, 50.16) 2020-12-09T06:41:46Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:41:46Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:41:46Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:41:46Z- TNavBF::mmse selected from filter -1 2020-12-09T06:41:46Z- variances([0], [2], and psi_berg) = 784.383146 833.074230 0.000000 2020-12-09T06:41:46Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:41:46Z- LcmTrn::cycle() - MLE : 4061645.76 594310.83 50.16 2020-12-09T06:41:46Z- LcmTrn::cycle() - MMSE : 4061671.26 594356.33 50.16 2020-12-09T06:41:46Z- LcmTrn::cycle() - COVAR: 784.38 833.07 58.93 0.00 2020-12-09T06:41:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496106.70 epoch sec; seqNo:1800; 4061671.26 north; 594356.33 east 2020-12-09T06:41:46Z- waiting for 1607496109.68, time is 1607496106.68 2020-12-09T06:41:46Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:46Z- AHRS_M2 msg: 1607496107.05 epoch sec; seqNo:1742 2020-12-09T06:41:46Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.22 psi 2020-12-09T06:41:46Z- waiting for 1607496109.68, time is 1607496106.68 2020-12-09T06:41:46Z- sync is 0.37, coherence is 2.00 2020-12-09T06:41:46Z- handleDepth()-Depth_Keller msg: 50.15 epoch sec; seqNo:1607496107051; depth 0.00 2020-12-09T06:41:46Z- waiting for 1607496109.68, time is 1607496106.68 2020-12-09T06:41:46Z- sync is 0.37, coherence is 2.00 2020-12-09T06:41:46Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496107.08 epoch sec; seqNo:1801; 4061671.28 north; 594357.55 east 2020-12-09T06:41:46Z- waiting for 1607496109.68, time is 1607496106.68 2020-12-09T06:41:46Z- sync is 0.40, coherence is 2.00 2020-12-09T06:41:47Z- AHRS_M2 msg: 1607496107.45 epoch sec; seqNo:1743 2020-12-09T06:41:47Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.22 psi 2020-12-09T06:41:47Z- waiting for 1607496109.68, time is 1607496106.68 2020-12-09T06:41:47Z- sync is 0.77, coherence is 2.00 2020-12-09T06:41:47Z- handleDepth()-Depth_Keller msg: 50.13 epoch sec; seqNo:1607496107458; depth 0.00 2020-12-09T06:41:47Z- waiting for 1607496109.68, time is 1607496106.68 2020-12-09T06:41:47Z- sync is 0.77, coherence is 2.00 2020-12-09T06:41:47Z- handleDvl() - RDI_Pathfinder msg: 1607496107.47 epoch sec; seqNo:997 2020-12-09T06:41:47Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.89 , 9.00 , 31.70 , 38.51 2020-12-09T06:41:47Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.03 , -0.05 2020-12-09T06:41:47Z- waiting for 1607496109.68, time is 1607496107.47 2020-12-09T06:41:47Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496107.48 epoch sec; seqNo:1802; 4061671.28 north; 594357.55 east 2020-12-09T06:41:47Z- waiting for 1607496109.68, time is 1607496107.47 2020-12-09T06:41:47Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:47Z- AHRS_M2 msg: 1607496107.86 epoch sec; seqNo:1744 2020-12-09T06:41:47Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.22 psi 2020-12-09T06:41:47Z- waiting for 1607496109.68, time is 1607496107.47 2020-12-09T06:41:47Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:47Z- handleDepth()-Depth_Keller msg: 50.10 epoch sec; seqNo:1607496107866; depth 0.00 2020-12-09T06:41:47Z- waiting for 1607496109.68, time is 1607496107.47 2020-12-09T06:41:47Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:47Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:47Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:47Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:47Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:41:47Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:41:47Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:41:47Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:41:47Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:41:47Z- handleDvl() - RDI_Pathfinder msg: 1607496107.87 epoch sec; seqNo:998 2020-12-09T06:41:47Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:41:47Z- handleDvl() - RDI_Pathfinder msg: velocities 1.05 , -0.03 , -0.05 2020-12-09T06:41:47Z- waiting for 1607496109.68, time is 1607496107.87 2020-12-09T06:41:47Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:47Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496107.88 epoch sec; seqNo:1803; 4061671.65 north; 594357.55 east 2020-12-09T06:41:47Z- waiting for 1607496109.68, time is 1607496107.87 2020-12-09T06:41:47Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:48Z- AHRS_M2 msg: 1607496108.28 epoch sec; seqNo:1745 2020-12-09T06:41:48Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.22 psi 2020-12-09T06:41:48Z- waiting for 1607496109.68, time is 1607496107.87 2020-12-09T06:41:48Z- sync is 0.41, coherence is 2.00 2020-12-09T06:41:48Z- handleDepth()-Depth_Keller msg: 50.08 epoch sec; seqNo:1607496108283; depth 0.00 2020-12-09T06:41:48Z- waiting for 1607496109.68, time is 1607496107.87 2020-12-09T06:41:48Z- sync is 0.41, coherence is 2.00 2020-12-09T06:41:48Z- handleDvl() - RDI_Pathfinder msg: 1607496108.30 epoch sec; seqNo:999 2020-12-09T06:41:48Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.70 , 37.65 , 31.38 , 37.81 2020-12-09T06:41:48Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.05 , -0.07 2020-12-09T06:41:48Z- waiting for 1607496109.68, time is 1607496108.30 2020-12-09T06:41:48Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496108.31 epoch sec; seqNo:1804; 4061671.67 north; 594358.77 east 2020-12-09T06:41:48Z- waiting for 1607496109.68, time is 1607496108.30 2020-12-09T06:41:48Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:48Z- AHRS_M2 msg: 1607496108.66 epoch sec; seqNo:1746 2020-12-09T06:41:48Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.22 psi 2020-12-09T06:41:48Z- waiting for 1607496109.68, time is 1607496108.30 2020-12-09T06:41:48Z- sync is 0.37, coherence is 2.00 2020-12-09T06:41:48Z- handleDepth()-Depth_Keller msg: 50.04 epoch sec; seqNo:1607496108666; depth 0.00 2020-12-09T06:41:48Z- waiting for 1607496109.68, time is 1607496108.30 2020-12-09T06:41:48Z- sync is 0.37, coherence is 2.00 2020-12-09T06:41:48Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496108.68 epoch sec; seqNo:1805; 4061671.67 north; 594358.77 east 2020-12-09T06:41:48Z- waiting for 1607496109.68, time is 1607496108.30 2020-12-09T06:41:48Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:48Z- AHRS_M2 msg: 1607496109.06 epoch sec; seqNo:1747 2020-12-09T06:41:48Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.22 psi 2020-12-09T06:41:48Z- waiting for 1607496109.68, time is 1607496108.30 2020-12-09T06:41:48Z- sync is 0.77, coherence is 2.00 2020-12-09T06:41:48Z- handleDepth()-Depth_Keller msg: 50.03 epoch sec; seqNo:1607496109068; depth 0.00 2020-12-09T06:41:48Z- waiting for 1607496109.68, time is 1607496108.30 2020-12-09T06:41:48Z- sync is 0.77, coherence is 2.00 2020-12-09T06:41:48Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:48Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:48Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:48Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:41:48Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:41:48Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:41:48Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:41:48Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:41:48Z- handleDvl() - RDI_Pathfinder msg: 1607496109.07 epoch sec; seqNo:1000 2020-12-09T06:41:48Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:41:48Z- handleDvl() - RDI_Pathfinder msg: velocities 1.01 , -0.05 , -0.07 2020-12-09T06:41:48Z- waiting for 1607496109.68, time is 1607496109.07 2020-12-09T06:41:48Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496109.08 epoch sec; seqNo:1806; 4061671.67 north; 594358.77 east 2020-12-09T06:41:49Z- waiting for 1607496109.68, time is 1607496109.07 2020-12-09T06:41:49Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:49Z- AHRS_M2 msg: 1607496109.47 epoch sec; seqNo:1748 2020-12-09T06:41:49Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.22 psi 2020-12-09T06:41:49Z- waiting for 1607496109.68, time is 1607496109.07 2020-12-09T06:41:49Z- sync is 0.40, coherence is 2.00 2020-12-09T06:41:49Z- handleDepth()-Depth_Keller msg: 50.00 epoch sec; seqNo:1607496109475; depth 0.00 2020-12-09T06:41:49Z- waiting for 1607496109.68, time is 1607496109.07 2020-12-09T06:41:49Z- sync is 0.40, coherence is 2.00 2020-12-09T06:41:49Z- handleDvl() - RDI_Pathfinder msg: 1607496109.49 epoch sec; seqNo:1001 2020-12-09T06:41:49Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.70 , 37.35 , 11.00 , 37.20 2020-12-09T06:41:49Z- handleDvl() - RDI_Pathfinder msg: velocities 0.96 , -0.06 , -0.07 2020-12-09T06:41:49Z- waiting for 1607496109.68, time is 1607496109.49 2020-12-09T06:41:49Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496109.50 epoch sec; seqNo:1807; 4061671.68 north; 594359.99 east 2020-12-09T06:41:49Z- waiting for 1607496109.68, time is 1607496109.49 2020-12-09T06:41:49Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:49Z- AHRS_M2 msg: 1607496109.87 epoch sec; seqNo:1749 2020-12-09T06:41:49Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.22 psi 2020-12-09T06:41:49Z- waiting for 1607496109.68, time is 1607496109.49 2020-12-09T06:41:49Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:49Z- handleDepth()-Depth_Keller msg: 50.00 epoch sec; seqNo:1607496109888; depth 0.00 2020-12-09T06:41:49Z- waiting for 1607496109.68, time is 1607496109.49 2020-12-09T06:41:49Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:49Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496109.90 epoch sec; seqNo:1808; 4061671.68 north; 594359.99 east 2020-12-09T06:41:49Z- waiting for 1607496109.68, time is 1607496109.49 2020-12-09T06:41:49Z- sync is 0.41, coherence is 2.00 2020-12-09T06:41:50Z- AHRS_M2 msg: 1607496110.29 epoch sec; seqNo:1750 2020-12-09T06:41:50Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.22 psi 2020-12-09T06:41:50Z- waiting for 1607496109.68, time is 1607496109.49 2020-12-09T06:41:50Z- sync is 0.80, coherence is 2.00 2020-12-09T06:41:50Z- handleDepth()-Depth_Keller msg: 49.95 epoch sec; seqNo:1607496110291; depth 0.00 2020-12-09T06:41:50Z- waiting for 1607496109.68, time is 1607496109.49 2020-12-09T06:41:50Z- sync is 0.80, coherence is 2.00 2020-12-09T06:41:50Z- handleDvl() - RDI_Pathfinder msg: 1607496110.32 epoch sec; seqNo:1002 2020-12-09T06:41:50Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.40 , 37.35 , 30.92 , 37.20 2020-12-09T06:41:50Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.06 , -0.05 2020-12-09T06:41:50Z- waiting for 1607496109.68, time is 1607496110.32 2020-12-09T06:41:50Z- sync is 0.03, coherence is 2.00 2020-12-09T06:41:50Z- LcmTrn::updateTrn() >>>> pose time 1607496110.29, meas time 1607496110.32 <<<< 2020-12-09T06:41:50Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607496110.32 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:41:50Z- TerrainNav::motionUpdate() - currEstimate = (4061672, 594359.99, 49.95) 2020-12-09T06:41:50Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:41:50Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:41:50Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:41:50Z- TNavBF::mmse selected from filter -1 2020-12-09T06:41:50Z- variances([0], [2], and psi_berg) = 784.225031 833.073984 0.000000 2020-12-09T06:41:50Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:41:50Z- LcmTrn::cycle() - MLE : 4061646.18 594315.49 49.95 2020-12-09T06:41:50Z- LcmTrn::cycle() - MMSE : 4061671.68 594359.99 49.95 2020-12-09T06:41:50Z- LcmTrn::cycle() - COVAR: 784.23 833.07 59.12 0.00 2020-12-09T06:41:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496110.34 epoch sec; seqNo:1809; 4061672.06 north; 594359.98 east 2020-12-09T06:41:50Z- waiting for 1607496113.32, time is 1607496110.32 2020-12-09T06:41:50Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:50Z- AHRS_M2 msg: 1607496110.68 epoch sec; seqNo:1751 2020-12-09T06:41:50Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.22 psi 2020-12-09T06:41:50Z- waiting for 1607496113.32, time is 1607496110.32 2020-12-09T06:41:50Z- sync is 0.37, coherence is 2.00 2020-12-09T06:41:50Z- handleDepth()-Depth_Keller msg: 49.95 epoch sec; seqNo:1607496110686; depth 0.00 2020-12-09T06:41:50Z- waiting for 1607496113.32, time is 1607496110.32 2020-12-09T06:41:50Z- sync is 0.37, coherence is 2.00 2020-12-09T06:41:50Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496110.70 epoch sec; seqNo:1810; 4061672.06 north; 594359.98 east 2020-12-09T06:41:50Z- waiting for 1607496113.32, time is 1607496110.32 2020-12-09T06:41:50Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:51Z- AHRS_M2 msg: 1607496111.09 epoch sec; seqNo:1752 2020-12-09T06:41:51Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.22 psi 2020-12-09T06:41:51Z- waiting for 1607496113.32, time is 1607496110.32 2020-12-09T06:41:51Z- sync is 0.77, coherence is 2.00 2020-12-09T06:41:51Z- handleDepth()-Depth_Keller msg: 49.93 epoch sec; seqNo:1607496111090; depth 0.00 2020-12-09T06:41:51Z- waiting for 1607496113.32, time is 1607496110.32 2020-12-09T06:41:51Z- sync is 0.77, coherence is 2.00 2020-12-09T06:41:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496111.10 epoch sec; seqNo:1811; 4061672.07 north; 594361.20 east 2020-12-09T06:41:51Z- waiting for 1607496113.32, time is 1607496110.32 2020-12-09T06:41:51Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:51Z- AHRS_M2 msg: 1607496111.49 epoch sec; seqNo:1753 2020-12-09T06:41:51Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.22 psi 2020-12-09T06:41:51Z- waiting for 1607496113.32, time is 1607496110.32 2020-12-09T06:41:51Z- sync is 1.17, coherence is 2.00 2020-12-09T06:41:51Z- handleDepth()-Depth_Keller msg: 49.92 epoch sec; seqNo:1607496111494; depth 0.00 2020-12-09T06:41:51Z- waiting for 1607496113.32, time is 1607496110.32 2020-12-09T06:41:51Z- sync is 1.17, coherence is 2.00 2020-12-09T06:41:51Z- handleDvl() - RDI_Pathfinder msg: 1607496111.52 epoch sec; seqNo:1003 2020-12-09T06:41:51Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.56 , 37.66 , 30.92 , 37.05 2020-12-09T06:41:51Z- handleDvl() - RDI_Pathfinder msg: velocities 0.89 , -0.07 , -0.01 2020-12-09T06:41:51Z- waiting for 1607496113.32, time is 1607496111.52 2020-12-09T06:41:51Z- sync is 0.03, coherence is 2.00 2020-12-09T06:41:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496111.53 epoch sec; seqNo:1812; 4061672.07 north; 594361.20 east 2020-12-09T06:41:51Z- waiting for 1607496113.32, time is 1607496111.52 2020-12-09T06:41:51Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:51Z- AHRS_M2 msg: 1607496111.89 epoch sec; seqNo:1754 2020-12-09T06:41:51Z- AHRS_M2 msg: 1.48 phi; 0.04 theta; -0.22 psi 2020-12-09T06:41:51Z- waiting for 1607496113.32, time is 1607496111.52 2020-12-09T06:41:51Z- sync is 0.37, coherence is 2.00 2020-12-09T06:41:51Z- handleDepth()-Depth_Keller msg: 49.90 epoch sec; seqNo:1607496111898; depth 0.00 2020-12-09T06:41:51Z- waiting for 1607496113.32, time is 1607496111.52 2020-12-09T06:41:51Z- sync is 0.37, coherence is 2.00 2020-12-09T06:41:51Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496111.93 epoch sec; seqNo:1813; 4061672.07 north; 594361.20 east 2020-12-09T06:41:51Z- waiting for 1607496113.32, time is 1607496111.52 2020-12-09T06:41:51Z- sync is 0.41, coherence is 2.00 2020-12-09T06:41:52Z- AHRS_M2 msg: 1607496112.30 epoch sec; seqNo:1755 2020-12-09T06:41:52Z- AHRS_M2 msg: 1.47 phi; 0.04 theta; -0.22 psi 2020-12-09T06:41:52Z- waiting for 1607496113.32, time is 1607496111.52 2020-12-09T06:41:52Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:52Z- handleDepth()-Depth_Keller msg: 49.88 epoch sec; seqNo:1607496112308; depth 0.00 2020-12-09T06:41:52Z- waiting for 1607496113.32, time is 1607496111.52 2020-12-09T06:41:52Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:52Z- handleDvl() - RDI_Pathfinder msg: 1607496112.32 epoch sec; seqNo:1004 2020-12-09T06:41:52Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.56 , 37.66 , 31.23 , 37.20 2020-12-09T06:41:52Z- handleDvl() - RDI_Pathfinder msg: velocities 0.91 , -0.07 , 0.04 2020-12-09T06:41:52Z- waiting for 1607496113.32, time is 1607496112.32 2020-12-09T06:41:52Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496112.35 epoch sec; seqNo:1814; 4061672.09 north; 594362.42 east 2020-12-09T06:41:52Z- waiting for 1607496113.32, time is 1607496112.32 2020-12-09T06:41:52Z- sync is 0.03, coherence is 2.00 2020-12-09T06:41:52Z- AHRS_M2 msg: 1607496112.71 epoch sec; seqNo:1756 2020-12-09T06:41:52Z- AHRS_M2 msg: 1.47 phi; 0.04 theta; -0.22 psi 2020-12-09T06:41:52Z- waiting for 1607496113.32, time is 1607496112.32 2020-12-09T06:41:52Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:52Z- handleDepth()-Depth_Keller msg: 49.87 epoch sec; seqNo:1607496112711; depth 0.00 2020-12-09T06:41:52Z- waiting for 1607496113.32, time is 1607496112.32 2020-12-09T06:41:52Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:52Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496112.72 epoch sec; seqNo:1815; 4061672.09 north; 594362.42 east 2020-12-09T06:41:52Z- waiting for 1607496113.32, time is 1607496112.32 2020-12-09T06:41:52Z- sync is 0.40, coherence is 2.00 2020-12-09T06:41:53Z- AHRS_M2 msg: 1607496113.11 epoch sec; seqNo:1757 2020-12-09T06:41:53Z- AHRS_M2 msg: 1.47 phi; 0.04 theta; -0.22 psi 2020-12-09T06:41:53Z- waiting for 1607496113.32, time is 1607496112.32 2020-12-09T06:41:53Z- sync is 0.79, coherence is 2.00 2020-12-09T06:41:53Z- handleDepth()-Depth_Keller msg: 49.86 epoch sec; seqNo:1607496113122; depth 0.00 2020-12-09T06:41:53Z- waiting for 1607496113.32, time is 1607496112.32 2020-12-09T06:41:53Z- sync is 0.79, coherence is 2.00 2020-12-09T06:41:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496113.13 epoch sec; seqNo:1816; 4061672.47 north; 594362.42 east 2020-12-09T06:41:53Z- waiting for 1607496113.32, time is 1607496112.32 2020-12-09T06:41:53Z- sync is 0.81, coherence is 2.00 2020-12-09T06:41:53Z- AHRS_M2 msg: 1607496113.51 epoch sec; seqNo:1758 2020-12-09T06:41:53Z- AHRS_M2 msg: 1.47 phi; 0.04 theta; -0.22 psi 2020-12-09T06:41:53Z- waiting for 1607496113.32, time is 1607496112.32 2020-12-09T06:41:53Z- sync is 1.19, coherence is 2.00 2020-12-09T06:41:53Z- handleDepth()-Depth_Keller msg: 49.85 epoch sec; seqNo:1607496113514; depth 0.00 2020-12-09T06:41:53Z- waiting for 1607496113.32, time is 1607496112.32 2020-12-09T06:41:53Z- sync is 1.19, coherence is 2.00 2020-12-09T06:41:53Z- handleDvl() - RDI_Pathfinder msg: 1607496113.53 epoch sec; seqNo:1005 2020-12-09T06:41:53Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.55 , 38.11 , 31.53 , 37.20 2020-12-09T06:41:53Z- handleDvl() - RDI_Pathfinder msg: velocities 0.95 , -0.05 , 0.08 2020-12-09T06:41:53Z- waiting for 1607496113.32, time is 1607496113.53 2020-12-09T06:41:53Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:53Z- LcmTrn::updateTrn() >>>> pose time 1607496113.51, meas time 1607496113.53 <<<< 2020-12-09T06:41:53Z- TerrainNav::Delayed incorporating measurement type 1 from time = 1607496113.53 sec, ping # 0; waiting for more recent INS data... 2020-12-09T06:41:53Z- TerrainNav::motionUpdate() - currEstimate = (4061672, 594362.42, 49.85) 2020-12-09T06:41:53Z- TerrainNav:: Windowed NIS is 0.0, in allowable region under 1.4. Keep on Trucking. 2020-12-09T06:41:53Z- TerrainNav:: SubcloudNIS is 0.00, in allowable region under 1.40. Keep on Trucking. 2020-12-09T06:41:53Z- variances([0], [2], and psi_berg) = 0.000000 0.000000 0.000000 2020-12-09T06:41:53Z- TNavBF::mmse selected from filter -1 2020-12-09T06:41:53Z- variances([0], [2], and psi_berg) = 784.093655 833.073780 0.000000 2020-12-09T06:41:53Z- LcmTrn::cycle() - reinits:0 filterstate:0 2020-12-09T06:41:53Z- LcmTrn::cycle() - MLE : 4061647.97 594317.92 49.85 2020-12-09T06:41:53Z- LcmTrn::cycle() - MMSE : 4061672.47 594362.42 49.85 2020-12-09T06:41:53Z- LcmTrn::cycle() - COVAR: 784.09 833.07 59.25 0.00 2020-12-09T06:41:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496113.55 epoch sec; seqNo:1817; 4061672.48 north; 594363.64 east 2020-12-09T06:41:53Z- waiting for 1607496116.53, time is 1607496113.53 2020-12-09T06:41:53Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:53Z- AHRS_M2 msg: 1607496113.91 epoch sec; seqNo:1759 2020-12-09T06:41:53Z- AHRS_M2 msg: 1.47 phi; 0.04 theta; -0.22 psi 2020-12-09T06:41:53Z- waiting for 1607496116.53, time is 1607496113.53 2020-12-09T06:41:53Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:53Z- handleDepth()-Depth_Keller msg: 49.84 epoch sec; seqNo:1607496113918; depth 0.00 2020-12-09T06:41:53Z- waiting for 1607496116.53, time is 1607496113.53 2020-12-09T06:41:53Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:53Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496113.93 epoch sec; seqNo:1818; 4061672.48 north; 594363.64 east 2020-12-09T06:41:53Z- waiting for 1607496116.53, time is 1607496113.53 2020-12-09T06:41:53Z- sync is 0.40, coherence is 2.00 2020-12-09T06:41:54Z- AHRS_M2 msg: 1607496114.32 epoch sec; seqNo:1760 2020-12-09T06:41:54Z- AHRS_M2 msg: 1.46 phi; 0.04 theta; -0.22 psi 2020-12-09T06:41:54Z- waiting for 1607496116.53, time is 1607496113.53 2020-12-09T06:41:54Z- sync is 0.79, coherence is 2.00 2020-12-09T06:41:54Z- handleDepth()-Depth_Keller msg: 49.83 epoch sec; seqNo:1607496114323; depth 0.00 2020-12-09T06:41:54Z- waiting for 1607496116.53, time is 1607496113.53 2020-12-09T06:41:54Z- sync is 0.79, coherence is 2.00 2020-12-09T06:41:54Z- handleDvl() - RDI_Pathfinder msg: 1607496114.33 epoch sec; seqNo:1006 2020-12-09T06:41:54Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.55 , 19.90 , 31.99 , 37.04 2020-12-09T06:41:54Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.03 , 0.08 2020-12-09T06:41:54Z- waiting for 1607496116.53, time is 1607496114.33 2020-12-09T06:41:54Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496114.35 epoch sec; seqNo:1819; 4061672.48 north; 594363.64 east 2020-12-09T06:41:54Z- waiting for 1607496116.53, time is 1607496114.33 2020-12-09T06:41:54Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:54Z- AHRS_M2 msg: 1607496114.72 epoch sec; seqNo:1761 2020-12-09T06:41:54Z- AHRS_M2 msg: 1.46 phi; 0.04 theta; -0.22 psi 2020-12-09T06:41:54Z- waiting for 1607496116.53, time is 1607496114.33 2020-12-09T06:41:54Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:54Z- handleDepth()-Depth_Keller msg: 49.82 epoch sec; seqNo:1607496114726; depth 0.00 2020-12-09T06:41:54Z- waiting for 1607496116.53, time is 1607496114.33 2020-12-09T06:41:54Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:54Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496114.74 epoch sec; seqNo:1820; 4061672.49 north; 594364.86 east 2020-12-09T06:41:54Z- waiting for 1607496116.53, time is 1607496114.33 2020-12-09T06:41:54Z- sync is 0.41, coherence is 2.00 2020-12-09T06:41:55Z- AHRS_M2 msg: 1607496115.13 epoch sec; seqNo:1762 2020-12-09T06:41:55Z- AHRS_M2 msg: 1.46 phi; 0.04 theta; -0.22 psi 2020-12-09T06:41:55Z- waiting for 1607496116.53, time is 1607496114.33 2020-12-09T06:41:55Z- sync is 0.79, coherence is 2.00 2020-12-09T06:41:55Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1607496115134; depth 0.00 2020-12-09T06:41:55Z- waiting for 1607496116.53, time is 1607496114.33 2020-12-09T06:41:55Z- sync is 0.79, coherence is 2.00 2020-12-09T06:41:55Z- handleDVL() - platform_x_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:55Z- handleDVL() - platform_y_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:55Z- handleDVL() - platform_z_velocity_wrt_ground item not found in dvl msg 2020-12-09T06:41:55Z- handleDVL() - Beam1Range item not found in dvl msg 2020-12-09T06:41:55Z- handleDVL() - Beam2Range item not found in dvl msg 2020-12-09T06:41:55Z- handleDVL() - Beam3Range item not found in dvl msg 2020-12-09T06:41:55Z- handleDVL() - Beam4Range item not found in dvl msg 2020-12-09T06:41:55Z- handleDVL() - BottomVelocityFlag item not found in dvl msg 2020-12-09T06:41:55Z- handleDvl() - RDI_Pathfinder msg: 1607496115.14 epoch sec; seqNo:1007 2020-12-09T06:41:55Z- handleDvl() - RDI_Pathfinder msg: ranges 0, 0.00 , 0.00 , 0.00 , 0.00 2020-12-09T06:41:55Z- handleDvl() - RDI_Pathfinder msg: velocities 1.00 , 0.03 , 0.08 2020-12-09T06:41:55Z- waiting for 1607496116.53, time is 1607496115.14 2020-12-09T06:41:55Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496115.15 epoch sec; seqNo:1821; 4061672.49 north; 594364.86 east 2020-12-09T06:41:55Z- waiting for 1607496116.53, time is 1607496115.14 2020-12-09T06:41:55Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:55Z- AHRS_M2 msg: 1607496115.53 epoch sec; seqNo:1763 2020-12-09T06:41:55Z- AHRS_M2 msg: 1.46 phi; 0.04 theta; -0.22 psi 2020-12-09T06:41:55Z- waiting for 1607496116.53, time is 1607496115.14 2020-12-09T06:41:55Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:55Z- handleDepth()-Depth_Keller msg: 49.81 epoch sec; seqNo:1607496115538; depth 0.00 2020-12-09T06:41:55Z- waiting for 1607496116.53, time is 1607496115.14 2020-12-09T06:41:55Z- sync is 0.39, coherence is 2.00 2020-12-09T06:41:55Z- handleDvl() - RDI_Pathfinder msg: 1607496115.55 epoch sec; seqNo:1008 2020-12-09T06:41:55Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.76 , 36.33 , 32.11 , 37.42 2020-12-09T06:41:55Z- handleDvl() - RDI_Pathfinder msg: velocities 1.07 , -0.02 , 0.10 2020-12-09T06:41:55Z- waiting for 1607496116.53, time is 1607496115.55 2020-12-09T06:41:55Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496115.56 epoch sec; seqNo:1822; 4061672.49 north; 594364.86 east 2020-12-09T06:41:55Z- waiting for 1607496116.53, time is 1607496115.55 2020-12-09T06:41:55Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:55Z- AHRS_M2 msg: 1607496115.93 epoch sec; seqNo:1764 2020-12-09T06:41:55Z- AHRS_M2 msg: 1.46 phi; 0.04 theta; -0.22 psi 2020-12-09T06:41:55Z- waiting for 1607496116.53, time is 1607496115.55 2020-12-09T06:41:55Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:55Z- handleDepth()-Depth_Keller msg: 49.79 epoch sec; seqNo:1607496115946; depth 0.00 2020-12-09T06:41:55Z- waiting for 1607496116.53, time is 1607496115.55 2020-12-09T06:41:55Z- sync is 0.38, coherence is 2.00 2020-12-09T06:41:55Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496115.96 epoch sec; seqNo:1823; 4061672.51 north; 594366.08 east 2020-12-09T06:41:55Z- waiting for 1607496116.53, time is 1607496115.55 2020-12-09T06:41:55Z- sync is 0.41, coherence is 2.00 2020-12-09T06:41:56Z- AHRS_M2 msg: 1607496116.34 epoch sec; seqNo:1765 2020-12-09T06:41:56Z- AHRS_M2 msg: 1.46 phi; 0.04 theta; -0.22 psi 2020-12-09T06:41:56Z- waiting for 1607496116.53, time is 1607496115.55 2020-12-09T06:41:56Z- sync is 0.79, coherence is 2.00 2020-12-09T06:41:56Z- handleDepth()-Depth_Keller msg: 49.80 epoch sec; seqNo:1607496116343; depth 0.00 2020-12-09T06:41:56Z- waiting for 1607496116.53, time is 1607496115.55 2020-12-09T06:41:56Z- sync is 0.79, coherence is 2.00 2020-12-09T06:41:56Z- handleDvl() - RDI_Pathfinder msg: 1607496116.37 epoch sec; seqNo:1009 2020-12-09T06:41:56Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.70 , 37.04 , 32.45 , 36.58 2020-12-09T06:41:56Z- handleDvl() - RDI_Pathfinder msg: velocities 1.10 , -0.01 , 0.07 2020-12-09T06:41:56Z- waiting for 1607496116.53, time is 1607496116.37 2020-12-09T06:41:56Z- sync is 0.03, coherence is 2.00 2020-12-09T06:41:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496116.38 epoch sec; seqNo:1824; 4061672.51 north; 594366.08 east 2020-12-09T06:41:56Z- waiting for 1607496116.53, time is 1607496116.37 2020-12-09T06:41:56Z- sync is 0.01, coherence is 2.00 2020-12-09T06:41:56Z- AHRS_M2 msg: 1607496116.74 epoch sec; seqNo:1766 2020-12-09T06:41:56Z- AHRS_M2 msg: 1.47 phi; 0.04 theta; -0.21 psi 2020-12-09T06:41:56Z- waiting for 1607496116.53, time is 1607496116.37 2020-12-09T06:41:56Z- sync is 0.37, coherence is 2.00 2020-12-09T06:41:56Z- handleDepth()-Depth_Keller msg: 49.78 epoch sec; seqNo:1607496116754; depth 0.00 2020-12-09T06:41:56Z- waiting for 1607496116.53, time is 1607496116.37 2020-12-09T06:41:56Z- sync is 0.37, coherence is 2.00 2020-12-09T06:41:56Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496116.78 epoch sec; seqNo:1825; 4061672.89 north; 594366.08 east 2020-12-09T06:41:56Z- waiting for 1607496116.53, time is 1607496116.37 2020-12-09T06:41:56Z- sync is 0.41, coherence is 2.00 2020-12-09T06:41:57Z- AHRS_M2 msg: 1607496117.15 epoch sec; seqNo:1767 2020-12-09T06:41:57Z- AHRS_M2 msg: 1.47 phi; 0.04 theta; -0.21 psi 2020-12-09T06:41:57Z- waiting for 1607496116.53, time is 1607496116.37 2020-12-09T06:41:57Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:57Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1607496117151; depth 0.00 2020-12-09T06:41:57Z- waiting for 1607496116.53, time is 1607496116.37 2020-12-09T06:41:57Z- sync is 0.78, coherence is 2.00 2020-12-09T06:41:57Z- handleNav() - DeadReckonUsingMultipleVelocitySources msg: 1607496117.17 epoch sec; seqNo:1826; 4061672.90 north; 594367.30 east 2020-12-09T06:41:57Z- waiting for 1607496116.53, time is 1607496116.37 2020-12-09T06:41:57Z- sync is 0.80, coherence is 2.00 2020-12-09T06:41:57Z- AHRS_M2 msg: 1607496117.55 epoch sec; seqNo:1768 2020-12-09T06:41:57Z- AHRS_M2 msg: 1.47 phi; 0.04 theta; -0.21 psi 2020-12-09T06:41:57Z- waiting for 1607496116.53, time is 1607496116.37 2020-12-09T06:41:57Z- sync is 1.18, coherence is 2.00 2020-12-09T06:41:57Z- handleDepth()-Depth_Keller msg: 49.77 epoch sec; seqNo:1607496117558; depth 0.00 2020-12-09T06:41:57Z- waiting for 1607496116.53, time is 1607496116.37 2020-12-09T06:41:57Z- sync is 1.18, coherence is 2.00 2020-12-09T06:41:57Z- handleDvl() - RDI_Pathfinder msg: 1607496117.57 epoch sec; seqNo:1010 2020-12-09T06:41:57Z- handleDvl() - RDI_Pathfinder msg: ranges 1, 27.86 , 37.04 , 32.30 , 36.58 2020-12-09T06:41:57Z- handleDvl() - RDI_Pathfinder msg: velocities 1.13 , -0.01 , 0.03 2020-12-09T06:41:57Z- waiting for 1607496116.53, time is 1607496117.57 2020-12-09T06:41:57Z- sync is 0.02, coherence is 2.00 2020-12-09T06:41:57Z- LcmTrn::updateTrn() >>>> pose time 1607496117.55, meas time 1607496117.57 <<<<